Kollmorgen AKD series User Manual

AKD User Guide | VL Parameters
VL.KBUSFF
General Information
Type R/W Parameter
Description
Sets the velocity loop acceleration 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.BUSFF
Start Version M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE
and CANopen
3416h M_01-00-00-000
Modbus 866 M_01-03-00-000
Description
This parameter sets the gain for the acceleration feedforward (a scaled second derivative of the position com-
mand is added to the velocity command value).
The nominal feedforward value can be multiplied by this gain value.
This will have affect only when using position mode (DRV.OPMODE = 2).
Related Topics
11.4 Velocity Loop
638 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