AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements
The red blocks are automatically handled at the drive level.
2Ï€ radians is the linear equivalent of one full mechanical revolution of a rotary motor - and is
equal to the MOTOR.PITCH of a linear motor.
Example
To convert VL.KP = 0.320 Arms/(rad/s) to Arms/(mm/s), where MOTOR.PITCH is 32 mm:
VL.KP = 0.320 Arm /rad/s * (2Ï€ rad / 32mm MOTOR.PITCH)
VL.KP = 0.32 * 2Ï€ / 32 = 0.063 Arms / (mm/s)
6.33.19 VL.KVFF
General Information
Type R/W Parameter
Description
Sets the velocity loop velocity feedforward gain value; active in opmodes 1
(velocity) and 2 (position) only.
Units NA
Range 0.0 to 2.0
Default
Value
0.0
Data Type Float
See Also VL.FF
Start Ver-
sion
M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and CAN-
open
3407h/2
354Bh/0
M_01-00-00-000
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 874 No 32 bit No M_01-03-00-000
Description
This parameter sets the gain for the velocity feedforward (a scaled derivative of the position
command is added to the velocity command value). The nominal feedforward value can be mul-
tiplied by this gain value.
This parameter is only used in the position mode (DRV.OPMODE = 2).
471 Kollmorgenâ„¢ | March 30, 2012
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