Il.friction - Kollmorgen AKD Series Benutzerhandbuch

AKD Benutzerhandbuch | 25.24.12 IL.FRICTION

25.24.12 IL.FRICTION

General Information
Type
Description Sets friction compensation value.
Units
Range
Default
Value
Data Type
See Also
Start Ver-
sion
Variants Supported
AKD BASIC
AKD SynqNet
AKD EtherNet/IP
Fieldbus Information
Fieldbus
EtherCAT COE and CAN-
open
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 442
Description
Position command derivative sign is multiplied by this value to be injected to the current command.
Related Topics
13.3 Stromregelkreis
723 KOLLMORGEN | Mai 2013
R/W Parameter
A
0 to the minimum of user positive current limit (IL.LIMITP) and motor peak cur-
rent (MOTOR.IPEAK).IL.LIMITP (s: 736)
0
Float
IL.FF
M_01-00-00-000
Variant
Index/Subindex Object Start Version
3422h/0
No
IL.FRICTION is active in Position and Velocity modes (DRV.OPMODE = 1, 2), but not
active in Torque mode (DRV.OPMODE = 0).
Supported
N/A
√
√
M_01-00-00-000
32 bit No M_01-03-00-000