AXIS#.IL.FF

Description

AXIS#.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 AXIS#.IL.KACCFF)
Velocity feed-forward (determined by AXIS#.VL.KVFF )
Friction feed-forward (determined by AXIS#.IL.FRICTION)
Gravity offset feed-forward (determined by AXIS#.IL.OFFSET)
Bus network feed-forward (determined by AXIS#.FBUS.IL.FF)

AXIS#.IL.FF is calculated using the following variables' values at the time it is called:

AXIS#.IL.FF = AXIS#.IL.KACCFF * Acceleration Command + AXIS#.VL.KVFF * Velocity Command + AXIS#.IL.FRICTION (if motion is currently commanded) + AXIS#.IL.OFFSET (always) + * AXIS#.FBUS.IL.FF (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:

AXIS#.FBUS.IL.FF 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 AXIS#.ICONT will be commanded in AXIS#.FBUS.IL.FF (if AXIS#.IL.KBUSFF is set to 1).

AXIS#.IL.KBUSSFF is a gain setting for the feedforward value AXIS#.FBUS.IL.FF. It needs to be set to greater zero to let AXIS#.FBUS.IL.FF take effect. AXIS#.IL.KBUSFF can be accessed by SDO object 50E2h/0.

The AXIS#.FBUS.IL.FF gain can be commanded through EtherCAT in all DS402 operating modes.

Versions

Action	Version	Notes
Implemented	02-00-00-000

General Information

Type	Read Only
Units	Arms
Range	N/A
Default Value	N/A
Data Type	Float
See Also	AXIS#.IL.KVFF, AXIS#.IL.OFFSET, AXIS#.IL.FRICTION, AXIS#.IL.KACCFF
Stored in Non-Volatile Memory	No

Variants Supported

All variants are supported.

Fieldbus Information

EtherNet/IP
Name	ID	Hex	Data Type	Access	Units
AXIS1.IL.FF	5804	16AC	Signed32	Read Only	-
AXIS2.IL.FF	71340	116A	Signed32	Read Only	-

PROFINET
Parameter	PNU	Data Type	Access	Units
AXIS#.IL.FF	5804	Float	Read Only	-