IL.KACCFF

Description

This value sets the gain for the acceleration feedforward (a scaled second derivative of the position command is added to the current command value) .

This parameter is valid only in the position mode (DRV.OPMODE = 2).

General Information

Type	R/W Parameter
Units	mArms/(rad/s²)
Range	0 to 39113.288 mArms/(rad/s^2)
Default Value	0 mArms/(rad/s²)
Data Type	Float
See Also	IL.FF
Start Version	M_01-00-00-000

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	Index/Subindex	Object Start Version
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	/0	M_01-00-00-000