IL.FF
Description
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 IL.KACCFF)
- Velocity feed-forward (determined by VL.KVFF )
- Friction feed-forward (determined by IL.FRICTION)
- Gravity offset feed-forward (determined by IL.OFFSET)
- Bus network feed-forward (determined by IL.BUSFF )
IL.FF is calculated using the following variables' values at the time it is called:
IL.FF = IL.KACCFF * Accelration Command + VL.KVFF * Velocity Command + IL.FRICTION (if motion is currently commanded) + IL.OFFSET (always) + IL.KBUSFF * IL.BUSFF (if fieldbus connected)
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 DRV.ICONT will be commanded in IL.BUSFF (if IL.KBUSFF is set to 1).
IL.KBUSSFF is a gain setting for the feedforward value IL.BUSFF. It needs to be set to greater zero to let IL.BUSFF take effect. IL.KBUSFF can be access by SDO object /0.
The IL.BUSFF gain can be commanded through EtherCAT in all DS402 operating modes.
General Information
Type |
R/O Parameter |
Units |
Arms |
Range |
N/A |
Default Value |
N/A |
Data Type |
Float |
See Also |
|
Start Version |
M_01-00-00-000 |
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