Description
IL.FF reads the present current loop overall feed-forward 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
IL.BUSFF is the injected current feedforward, which corresponds to Object 60B2h: Torque Offset. The scaling for the torque 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 |
|
|
Start Version |
M_01-00-00-000 |
| Variant | Supported |
|---|---|
| MKD EtherCAT | Yes |
| AKD-N | Yes |
| MKD-N | Yes |
| MKD-C | No |
Related Topics
