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	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.KVFF	500ah	0eh	Signed32	-	1000:1	Read/Write	No
AXIS2.IL.KVFF	510ah	0eh	Signed32	-	1000:1	Read/Write	No

EtherNet/IP

Name	ID	Hex	Data Type	Access	Units
AXIS1.IL.KVFF	5812	16B4	Signed32	Read/Write	-
AXIS2.IL.KVFF	71348	116B	Signed32	Read/Write	-

PROFINET

Parameter	PNU	Data Type	Access	Units
AXIS#.IL.KVFF	5812	Float	Read/Write	-