IL.FRICTION

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IL.FRICTION

General Information
Type	R/W Parameter
Description	Sets friction compensation value.
Units	A
Range	0 to the minimum of user positive current limit (IL"Instruction list" This is a low-level language and resembles assembly.LIMITP) and motor peak currentThe effective value of the peak current (MOTOR.IPEAK).IL.LIMITP
Default Value	0
Data Type	Float
See Also	IL.FF
Start Version	M_01-00-00-000

FieldbusA Fieldbus is an industrial network system for real-time distributed control (e.g. CAN or Profibus). It is a way of connecting instruments in a plant design	Index/Subindex	Object Start Version
EtherCATEtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs COE and CANopen	3422h/0	M_01-00-00-000

Description

Position command derivative sign is multiplied by this value to be injected to the current command.

IL.FRICTION is active in Position and Velocity modes (DRV.OPMODE = 1, 2), but not active in TorqueTorque is the tendency of a force to rotate an object about an axis. Just as a force is a push or a pull, a torque can be thought of as a twist mode (DRV.OPMODE = 0).

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