FeedforwardGainAff Parameter

Default Value: 0.0

Minimum Value: 0.0

Maximum Value: None

Units: None

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.

The FeedforwardGainAff parameter scales the part of the feedforward control effort that is from the acceleration command. Acceleration feedforward compensates for the inertia of the axis and decreases position error during the acceleration and deceleration phases of motion. The units of this gain are N/(m/s²) or Nm/(rad/s²), (kg or kg*m² respectively), when the FeedforwardGainNormalizationFactor Parameter is set correctly. Usually, you can set the value of the FeedforwardGainAff parameter to the payload mass or rotational inertia of the axis.