Glossary: FeedforwardGainSff Parameter

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FeedforwardGainSff Parameter

HARDWARE: This parameter applies only when used with the GL4 or the XL4s.

Use the FeedforwardGainSff Parameter to set the snap feedforward gain. This parameter adds a feedforward control effort in proportion with the rate of change of jerk. The units of this gain are N/(m/s⁴) or Nm/(rad/s⁴) when the FeedforwardGainNormalizationFactor Parameter is set correctly.