AXIS#.IL.FF

Description

AXIS#.IL.FF reads the present current loop overall feed-forward value. It is the sum of the following feed-forward paths:

AXIS#.IL.FF is calculated using the following variables' values at the time it is called:

AXIS#.IL.FF = AXIS#.IL.KACCFF * Acceleration Command + AXIS#.VL.KVFF * Velocity Command + AXIS#.IL.FRICTION (if motion is currently commanded) + AXIS#.IL.OFFSET (always) + * AXIS#.FBUS.IL.FF (if fieldbus connected)

For EtherCAT:

AXIS#.FBUS.IL.FF is the injected current feedforward, which corresponds to Object 60B2h: Torque Offset. The scaling for the torque offset is done with 1/1000 rated torque. In AKD, a value of 1000 means AXIS#.ICONT will be commanded in AXIS#.FBUS.IL.FF (if AXIS#.IL.KBUSFF is set to 1).

AXIS#.IL.KBUSSFF is a gain setting for the feedforward value AXIS#.FBUS.IL.FF. It needs to be set to greater zero to let AXIS#.FBUS.IL.FF take effect. AXIS#.IL.KBUSFF can be accessed by SDO object 50E2h/0.

The AXIS#.FBUS.IL.FF gain can be commanded through EtherCAT in all DS402 operating modes.

Versions

Action Version Notes
Implemented 02-00-00-000

General Information

Type

Read Only

Units

Arms

Range

N/A

Default Value

N/A

Data Type

Float

See Also

AXIS#.IL.KVFF, AXIS#.IL.OFFSET, AXIS#.IL.FRICTION, AXIS#.IL.KACCFF

Stored in Non-Volatile Memory

No

Variants Supported

All variants are supported.

Fieldbus Information

EtherNet/IP

Name

ID

Hex

Data Type

Access

Units

AXIS1.IL.FF

5804

16AC

Signed32

Read Only

-

AXIS2.IL.FF

71340

116A

Signed32

Read Only

-

PROFINET

Parameter

PNU

Data Type

Access

Units

AXIS#.IL.FF

5804

Float

Read Only

-

Related Topics

Current Loop