Feed Forward Object
Parameter | Default value | Unit | Description |
|---|---|---|---|
Type | FFT_ON |
| FFT_OFF No acceleration feed forward is used FFT_ON KpAccFFT is used as feed forward MOVE_OPENLOOP: FFT_ON_AREA KpAccFFT used and KpAccFFT_Area used when the mover is in any of the Areas |
KpAccFFT | 1.0 | As²/mm | Acceleration Feed Forward Gain. For large loads this value should be changed to reduce position lag encountered during acceleration and deceleration. Too high and it will create a negative lag distance. A value of 1 corresponds to a mover mass of 350g a value of 2 would be for a mover mass of approx. 700g. |
KpAccFFT_area | 1.0 |
| Acceleration Feed Forward gain to be used in the curve when Type is set to FFT_ON_AREA. |
Open Loop Area Current | 3.0 | A | Sets the open loop current with the position command for commutation. Changing this value can result in incorrect Commutation. |
Area Current Limit | 0.0 | A | When greater than zero, and Control areas are enabled, when the axis is in a Control Area the axis current will be limited to this value. |