FeedforwardGainNormalizationFactor Parameter
Default Value: 0.0
Minimum Value: 0.0
Maximum Value: None
Units: None
Type: double
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 FeedforwardGainNormalizationFactor parameter scales the feedforward gain parameters into engineering units by using the values of the motor force or torque constant, the mechanical transmission ratio, and the resolution of the feedback sensor.
If FeedforwardGainNormalizationFactor parameter is set to 1, the base unit of FeedforwardGainAff is:
When this parameter is set to the correct value (see the equations that follow), the units of the feedforward gains will be the same as the documentation examples.
The goal is to specify a FeedforwardGainNormalizationFactor to transform FeedforwardGainAff into one of the engineering units of inertia that follow:
Linear stage: kg
Rotary stage: kg · m2
Galvanometer: g · cm2
If the ServoLoopGainNormalizationFactor is configured for the desired ServoLoopGainK stiffness units (see ServoLoopGainNormalizationFactor Parameter), the FeedforwardGainNormalizationFactor is calculated as follows:
Linear stage:
Rotary stage:
Galvanometer:
For gantries under Decoupling Control, the FeedforwardGainNormalizationFactor of the Linear (R) axis is calculated in the same way as a normal linear stage. For the Yaw (Theta) axis, it is calculated in the same way as a normal rotary stage.
