Description
Position command derivative sign is multiplied by this value to be injected to the current command.
-
-
AXIS#.IL.FRICTION is active in Position and Velocity modes (OPMODE = 1, 2), but not active in Torque mode (OPMODE = 0).
Versions
| Action | Version | Notes |
|---|---|---|
| Implemented | 02-00-00-000 |
General Information
|
Type |
Read/Write |
|
Units |
A |
|
Range |
0 to the minimum of user positive current limit (AXIS#.IL.LIMITP ) and motor peak current (AXIS#.MOTOR.IPEAK ). |
|
Default Value |
0 |
|
Data Type |
Float |
|
See Also |
|
|
Stored in Non-Volatile Memory |
Yes |
Variants Supported
All variants are supported.
Fieldbus Information
|
Command |
Index |
SubIndex |
Data Type |
Units |
Float Scale |
Access |
PDO Mappable |
|---|---|---|---|---|---|---|---|
|
AXIS1.IL.FRICTION |
500ah |
0bh |
Signed32 |
- |
1000:1 |
Read/Write |
No |
|
AXIS2.IL.FRICTION |
510ah |
0bh |
Signed32 |
- |
1000:1 |
Read/Write |
No |
|
ID |
Instance |
Attribute |
Name |
Data Type |
Access |
User Mappable |
|---|---|---|---|---|---|---|
|
5808 |
1 |
5808 (0x16b0) |
AXIS1.IL.FRICTION |
Signed32 |
Read/Write |
Yes |
|
71344 |
2 |
5808 (0x16b0) |
AXIS2.IL.FRICTION |
Signed32 |
Read/Write |
Yes |
|
Parameter |
PNU |
Data Type |
Access |
Units |
|---|---|---|---|---|
|
AXIS#.IL.FRICTION |
5808 |
Float |
Read/Write |
- |
