AXIS#.IL.KVFF

Description

This parameter sets the gain for the velocity loop feedforward. It is used when you want to add a pure torque component scaled by the velocity command.

Resulting Torque Feedforward = AXIS#.VL.CMD * AXIS#.IL.KVFF

This parameter is only used in velocity and position mode (AXIS#.OPMODE = 1 and 2).

Versions

Action Version Notes
Implemented 02-00-00-000

General Information

Type

Read/Write

Units

mArms / (rad/s)

Range

0 to 1,000,000

Default Value

0

Data Type

Float

See Also

AXIS#.IL.FF

Stored in Non-Volatile Memory

Yes

Variants Supported

All variants are supported.

Fieldbus Information

EtherCAT CoE and CANopen

Command

Index

SubIndex

Data Type

Units

Float Scale

Access

PDO Mappable

AXIS1.IL.KVFF

500ah

0eh

Signed32

-

1000:1

Read/Write

No

AXIS2.IL.KVFF

510ah

0eh

Signed32

-

1000:1

Read/Write

No

EtherNet/IP

Name

ID

Hex

Data Type

Access

Units

AXIS1.IL.KVFF

5812

16B4

Signed32

Read/Write

-

AXIS2.IL.KVFF

71348

116B

Signed32

Read/Write

-

PROFINET

Parameter

PNU

Data Type

Access

Units

AXIS#.IL.KVFF

5812

Float

Read/Write

-