FeedbackCurrent

General

Type

AF

Offline editable

No

Devices supporting the parameter

Lexium MC Carrier

Traceable

Yes

Functional Description

The parameter FeedbackCurrent represents the output of the velocity controller excluding the feedforward path in milliamperes peak (mApeak).

The feedforward path demands the correct current from the current controller of the carrier. This current corresponds to the motion profile and the carrier mass. The value of the FeedbackCurrent is the additionally demanded current, generated by the position control loop and the velocity control loop, to minimize the position deviation.

NOTE: The parameter FeedbackCurrent is mapped to the cyclic Sercos data of the carrier so that the value can be added to the real-time trace.

Unit

Data type

Meaning

mApeak

LREAL

The output of the velocity controller excluding the feedforward path in milliamperes peak (mApeak).