IL.FF

Description

IL "Instruction list" This is a low-level language and resembles assembly.FF reads the present current loop overall feed-forward This 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)

For 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:

IL.BUSFF is the injected current feedforward, which corresponds to Object 60B2h: 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 Offset. The scaling for the 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 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 50E2h/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	IL.KBUSFF, IL.KVFF, IL.OFFSET, IL.FRICTION, IL.KACCFF
Start Version	M_01-00-00-000