AXIS#.IL.KVFF

Description

This parameter sets the gain for the velocity loop feedforward. It is used any time you wanted to add a pure 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 component scaled by the velocity command.

Resulting 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 Feedforward = AXIS#.VL.CMD * AXIS#.IL"Instruction list" This is a low-level language and resembles assembly.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 1000
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

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	Parameter	Index	Sub-Index	Data Type	Float Scale	Units	Access	PDO Mappable
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	AXIS1.IL.KVFF	0x500A	0xE	DINT	1000:1	-	RW	False
	AXIS2.IL.KVFF	0x510A	0xE	DINT	1000:1	-	RW	False