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FeedforwardGainAff Parameter

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.

 

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