Kollmorgen AKD PDMM series, User Manual

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AKD PDMM User Guide | 36.11 IL.FRICTION
General Information
Default
Value
0 A
Data Type Float
See Also Foldback
Start Version M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and CAN-
open
/0 M_01-00-00-000
Description
IL.FOLDWTHRESH is the warning level of the current foldback algorithm. When IL.IFOLD (pg
355) drops
below IL.FOLDWTHRESH a warning is generated.
To ensure that the current foldback warning level is never reached, IL.FOLDWTHRESH should
be set well below the continuous current value for both the drive and the motor. You can also
set the IL.FOLDFTHRESH (pg 352) value to zero.
Related Topics
1 Current Loop
36.11 IL.FRICTION
General Information
Type R/W Parameter
Description Sets friction compensation value.
Units A
Range
0 to the minimum of user positive current limit (IL.LIMITP) and motor peak cur-
rent (MOTOR.IPEAK).IL.LIMITP (pg 361)
Default
Value
0
Data Type Float
See Also IL.FF
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
Position command derivative sign is multiplied by this value to be injected to the current com-
mand.
IL.FRICTION is active in Position and Velocity modes (DRV.OPMODE = 1,
2), but not active in Torque mode (DRV.OPMODE = 0).
Related Topics
1 Current Loop
Kollmorgen™ | December 2012 354