Kollmorgen AKD PDMM series, User Manual

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AKD PDMM User Guide | 48.20 VL.KVFF
48.20 VL.KVFF
General Information
Type R/W Parameter
Description
Sets the velocity loop velocity 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.FF (pg 459)
Start Ver-
sion
M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and CAN-
open
/0
M_01-00-00-000
Description
This parameter sets the gain for the velocity feedforward (a scaled derivative of the position
command is added to the velocity command value). The nominal feedforward value can be mul-
tiplied by this gain value.
This parameter is only used in the position mode (DRV.OPMODE (pg 294) = 2).
Related Topics
1 Velocity Loop
48.21 VL.LIMITN
General Information
Type NV Parameter
Description
Sets the velocity lower limit; active in opmodes 1 (velocity) and 2 (position)
only.
Units
Depends on or
Rotary: rpm, rps, deg/s, custom units/s, rad/s
Linear: counts/s, mm/s, µm/s, custom units/s
Range
Rotary:
-15,000.000 to 0.000 rpm
-250.000 to 0.000 rps
-90,000.000 to 0.000 deg/s
-1,250.000 to 0.000 custom units/s
-1570.796 to 0.000 rad/s
Linear:
-1,073,741,824,000.000 to 0.000 counts/s
-250.000*MOTOR.PITCH (pg 387) to 0.000 mm/s
-250,000.000*MOTOR.PITCH (pg 387) to 0.000 µm/sec
-1,250.000 to 0.000 custom units/s
464 Kollmorgen™ | December 2012