Description
Position command derivative sign is multiplied by this value to be injected to the current command.
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AXIS#.IL
"Instruction list"
This is a low-level language and resembles assembly.FRICTION is active in Position and Velocity modes (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 (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).AXIS#.IL.LIMITP |
|
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 | PDOPDO is a type of protocol frame used in some fieldbuses. A PDO contains one or more object dictionary entries, which define the application data transferred between devices. Mappable |
|---|---|---|---|---|---|---|---|---|
| EtherCAT***EtherCAT 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.FRICTION | 0x500A | 0xB | DINT | 1000:1 | - | RW | False |
| AXIS2.IL.FRICTION | 0x510A | 0xB | DINT | 1000:1 | - | RW | False |
