AXIS#.IL.KVFF
Description
This parameter sets the gain for the velocity loop feedforward. It is used when you want to add a pure torque
Torque 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 Torque Torque 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#.IL "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 |
|
|
Stored in Non Volatile Memory |
Yes |
Variants Supported
All variants are supported.
Fieldbus Information
| Fieldbus A 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 | PDO PDO 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.KVFF | 0x500A | 0xE | DINT | 1000:1 | - | RW | False |
| AXIS2.IL.KVFF | 0x510A | 0xE | DINT | 1000:1 | - | RW | False |
