OD_321D_02 Acceleration Pre-control [‰]
Object description
| Index | 321Dh |
| Object name | Pre-control |
| Object Code | ARRAY |
| Data type | UNSIGNED32 |
| Savable | yes, category: application |
| Access | read only |
| PDO mapping | no |
Value description
| Subindex | 02h |
| Name | Acceleration Pre-control [‰] |
| Data type | UNSIGNED32 |
| Access | read / write |
| PDO mapping | no |
Description
The factor for the acceleration feed forward is set here in tenths of a percent of the factor of 320Dh and multiplied by the output of the ramp generator (6074h). The value is added to the output of the velocity controller before the current controller. The acceleration feed forward is active in all modes, with the exception of the torque modes.