AKD User Guide | IL Parameters
IL.KACCFF
General Information
Type R/W Parameter
Description Sets current loop acceleration feedforward gain value
Units mArms/(rad/s²)
Range 0.0 to 2.0 mArms/(rad/s²)
Default Value 0 mArms/(rad/s²)
Data Type Float
See Also IL.FF
Start Version M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE
and CANopen
3426h/0 M_01-00-00-000
Modbus 450 M_01-03-00-000
Description
This value sets the gain for the acceleration feedforward (a scaled second derivative of the position command is
added to the current command value) .
This parameter is valid only in the position mode (DRV.OPMODE = 2).
Related Topics
11.3 Current Loop
472 Kollmorgen | December 2010
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