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FeedforwardGainAff Parameter
The 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.