Il.friction - Kollmorgen AKD-C01007-MCEC Benutzerhandbuch

AKD Benutzerhandbuch | 24.24.14 IL.FRICTION

24.24.14 IL.FRICTION

General Information
Type
Description Sets friction compensation value.
Units
Range
Default
Value
Data Type
See Also
Start Ver-
sion
Variants Supported
AKD Base
AKD with Position Indexer
AKD EtherCAT
AKD CANopen
AKD BASIC
AKD SynqNet
AKD EtherNet/IP
AKD Profinet
AKD sercos ® III
AKD-N
AKD-C
Fieldbus Information
Fieldbus
EtherCAT COE and CAN-
open
Fieldbus
Profinet
sercos ® III
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.
IL.FRICTION is active in Position and Velocity modes (DRV.OPMODE = 1, 2), but not
active in Torque mode (DRV.OPMODE = 0).
Related Topics
13.3 Stromregelkreis
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. 848)
0
Float
IL.FF
M_01-00-00-000
Variant Supported
Index/Subindex Object Start Version
3422h/0
Address Attributes Signed?
DWord
2221 No
4 Octets
No
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
No
M_01-00-00-000
32 bit No M_01-03-00-000
KOLLMORGEN | Mai 2014 833