AXIS#.IL.KVFF

Description

This parameter sets the gain for the velocity loop feedforward. It is used when you want to add a pure torqueClosedTorque 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 TorqueClosedTorque 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#.ILClosed"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

FieldbusClosedA 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 PDOClosedPDO 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
EtherCATClosed***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.KVFF 0x500A 0xE DINT 1000:1 - RW False
AXIS2.IL.KVFF 0x510A 0xE DINT 1000:1 - RW False