AXIS#.IL.FRICTION

Description

Position command derivative sign is multiplied by this value to be injected to the current command.

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• AXIS#.IL "Instruction List" This is a low-level language and resembles assembly.FRICTION is active in Position and Velocity modes (OPMODE = 1, 2), but not active in 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 mode (OPMODE = 0).

Versions

Action	Version	Notes
Implemented	02-00-00-000

General Information

Type	Read/Write
Units	A
Range	0 to the minimum of user positive current limit (AXIS#.IL.LIMITP ) and motor peak current (AXIS#.MOTOR.IPEAK ).
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

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

Command	Index	SubIndex	Data Type	Units	Float Scale	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
AXIS1.IL.FRICTION	500ah	0bh	Signed32	-	1000:1	Read/Write	No
AXIS2.IL.FRICTION	510ah	0bh	Signed32	-	1000:1	Read/Write	No

EtherNet/IP

Name	ID	Hex	Data Type	Access	Units
AXIS1.IL.FRICTION	5808	16B0	Signed32	Read/Write	-
AXIS2.IL.FRICTION	71344	116B	Signed32	Read/Write	-

PROFINET

Parameter	PNU	Data Type	Access	Units
AXIS#.IL.FRICTION	5808	Float	Read/Write	-