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#.TRAJ.VCMD * 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 |
|
|
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.KVFF |
500ah |
0eh |
Signed32 |
- |
1000:1 |
Read/Write |
No |
|
AXIS2.IL.KVFF |
510ah |
0eh |
Signed32 |
- |
1000:1 |
Read/Write |
No |
|
ID |
Instance |
Attribute |
Name |
Data Type |
Access |
User Mappable |
|---|---|---|---|---|---|---|
|
5812 |
1 |
5812 (0x16b4) |
AXIS1.IL.KVFF |
Signed32 |
Read/Write |
Yes |
|
71348 |
2 |
5812 (0x16b4) |
AXIS2.IL.KVFF |
Signed32 |
Read/Write |
Yes |
|
Parameter |
PNU |
Data Type |
Access |
Units |
|---|---|---|---|---|
|
AXIS#.IL.KVFF |
5812 |
Float |
Read/Write |
- |
