AXIS#.IL.FF
Description
AXIS#.IL"Instruction list" This is a low-level language and resembles assembly.FF reads the present current loop overall feed-forwardThis describes an element or pathway within a control system which passes a controlling signal from a source in the control system's external environment, often a command signal from an external operator, to a load elsewhere in its external environment value. It is the sum of the following feed-forward paths:
- Acceleration feed-forward (determined by AXIS#.IL.KACCFF)
- Velocity feed-forward (determined by AXIS#.VL.KVFF )
- Friction feed-forward (determined by AXIS#.IL.FRICTION)
- Gravity offset feed-forward (determined by AXIS#.IL.OFFSET)
- Bus network feed-forward (determined by AXIS#.IL.BUSFF )
AXIS#.IL.FF is calculated using the following variables' values at the time it is called:
AXIS#.IL.FF = AXIS#.IL.KACCFF * Accelration Command + AXIS#.VL.KVFF * Velocity Command + AXIS#.IL.FRICTION (if motion is currently commanded) + AXIS#.IL.OFFSET (always) + * AXIS#.IL.BUSFF (if fieldbus connected)
AXIS#.IL.BUSFF is the injected current feedforward, which corresponds to . The scaling for the 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 offset is done with 1/1000 rated torque. In AKD, a value of 1000 means AXIS#.ICONT will be commanded in AXIS#.IL.BUSFF (if AXIS#.IL.KBUSFF is set to 1).
AXIS#.IL.KBUSSFF is a gain setting for the feedforward value AXIS#.IL.BUSFF. It needs to be set to greater zero to let AXIS#.IL.BUSFF take effect. AXIS#.IL.KBUSFF can be access by SDO object /0.
The AXIS#.IL.BUSFF gain can be commanded through EtherCAT in all DS402 operating modes.
Versions
Action | Version | Notes |
---|---|---|
Implemented | 02-00-00-000 |
General Information
Type |
Read Only |
Units |
Arms |
Range |
N/A |
Default Value |
N/A |
Data Type |
Float |
See Also |
, AXIS#.IL.KVFF, AXIS#.IL.OFFSET, AXIS#.IL.FRICTION, AXIS#.IL.KACCFF |
Stored in Non Volatile Memory |
No |
Variants Supported
All variants are supported.
Related Topics