FeedforwardGainAff Parameter
Default Value: 0.0
Minimum Value: 0.0
Maximum Value: None
Units: None
Type: float
Tip: To automatically tune and optimize an axis in a new or existing system, you can use the EasyTune Module 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 
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.
