FeedforwardAdvance Parameter

Default Value: 0.25

Minimum Value: 0.0

Maximum Value: 1.0

Units: time milliseconds

Type: float

Tip: To automatically tune and optimize an axis in a new or existing system, you can use the EasyTune feature. This feature is in the Axes > Servo section of the Configure workspace in Automation1 Studio. After EasyTune completes, the optimized servo gains and servo filters are committed to the controller.

HARDWARE: This parameter does not apply when used with the GI4. Jerk and snap feedforward apply only to the GL4 and XL4s.

The FeedforwardAdvance parameter specifies the time, in milliseconds, by which the velocity, acceleration, jerk, and snap feedforward contributions to the output of the servo loop are advanced by the controller. The controller feedforward path advances the feedforward control effort in time to compensate for latency in the plant.