CDHD Variables and Commands
VarCom Reference Manual 151
IGRAV
Definition Gravity Compensation
Type Variable (R/W)
Description Gets/sets the value of the gravity compensation constant.
IGRAV is added to the current loop command to compensate
for gravity or similar constant interference.
Syntax Read: IGRAV
Write: IGRAV <value>
Firmware 1.0.6
Drive status Enabled | Disabled
Range ±DIPEAK
Default value 0.000
Unit A
Non-volatile Yes
See also I
FRICINEG
FRICIPOS
ILIM
DIPEAK
CANopen 206Ch, sub-index 0
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