IL.FRICTION

Description

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

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• IL "Instruction List" This is a low-level language and resembles assembly.FRICTION is active in Position and Velocity modes (DRV.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 (DRV.OPMODE = 0).

General Information

Type	R/W Parameter
Units	A
Range	0 to the minimum of user positive current limit (IL.LIMITP) and motor peak current (MOTOR.IPEAK).IL.LIMITP
Default Value	0
Data Type	Float
See Also	IL.FF
Start Version	M_01-00-00-000

Variant	Supported
AKD 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	Yes
AKD-N	Yes
AKD-N	Yes
AKD-C	No

EtherCAT CoE and CANopen

Index/Subindex	Object Start Version
3422h/0	M_01-00-00-000

Related Topics

Current Loop