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FeedforwardGainAff Parameter

The FeedforwardGainAff Parameter scales the part of the feedforward control effort that is from the acceleration The change in velocity as a function of time. command. Acceleration The change in velocity as a function of time. feedforward compensates for the inertia of the axis and decreases position error during the acceleration The change in velocity as a function of time. 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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