Kollmorgen AKD PDMM series, User Manual

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AKD PDMM User Guide | 48.16 VL.KBUSFF
General Information
Units N/A
Range 0 to 1
Default
Value
0
Data Type Integer
See Also N/A
Start Ver-
sion
M_01-00-00-000
Description
This parameter is used to select the velocity generator mode.
Mode Description
0
d/dt mode: The derivative of the mechanical angle of the drive is fed to a first order low
pass.
1 Luenberger Observer mode
Related Topics
1 Velocity Loop
48.16 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 (pg 454)
Start Ver-
sion
M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and CAN-
open
M_01-00-00-000
Description
This parameter sets the gain for the acceleration feedforward (a scaled second derivative of the
position command 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 (pg 294) = 2).
Related Topics
1 Velocity Loop
460 Kollmorgen™ | December 2012