OD_321D_03 Velocity 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 | 03h |
| Name | Velocity Pre-control [‰] |
| Data type | UNSIGNED32 |
| Access | read / write |
| PDO mapping | no |
Description
The factor for the velocity feed forward is set here in tenths of a percent of the output of the ramp generator (606Bh) and added to the output of the position controller before the velocity controller. The velocity feed forward is active in all modes with position control loop: