Kollmorgen AKD series User Manual

AKD User Guide | VL Parameters
VL.FF
General Information
Type R/O Parameter
Description
Displays the velocity loop overall feedforward value; active in opmodes 1
(velocity) and 2 (position) only.
Units
Depends on UNIT.ACCROTARY or UNIT.ACCLINEAR
Rotary: rpm, rps, deg/s, (PIN/POUT)/s, rad/s
Linear: counts/s, mm/s, µm/s, (PIN/POUT)/s
Range 0 to VL.LIMITP
Default Value 0
Data Type Float
See Also VL.KBUSFF, VL.KVFF, VL.ACCFFGAIN
Start Version M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
Modbus 862 M_01-03-00-000
Description
This parameter displays the velocity loop overall feedforward value.
Related Topics
11.4 Velocity Loop
636 Kollmorgen | December 2010

Kollmorgen AKD series Specifications

General

Continuous Current	Up to 180 A
Control Modes	Position, Velocity, Torque
Communication Interfaces	EtherCAT, CANopen, Modbus TCP/IP
Feedback Options	Resolver, Encoder
Safety Features	Safe Torque Off (STO), Safe Stop 1 (SS1)
Protection Features	Overvoltage, Undervoltage, Overcurrent, Short Circuit, Overtemperature
Switching Frequency	8 kHz, 16 kHz
Ambient Temperature	0°C to 40°C
Operating Temperature	0 - 40 °C (derating may apply)
Humidity	5% to 95% non-condensing