Parameters
BA Intellidrive User’s Manual
4-14
Aerotech, Inc.
Version 1.4
Table 4-20.
Settings for Initialization Current PRM:17
PRM:17
Settings
Default Value
20
Maximum Value
100
Minimum Value
0
Type
Long (32bit)
Units
% of Peak
4.2.19. PRM:18 Velocity Feedforward VFF
This parameter enables velocity feedforward compensation to the PID control loop. The
velocity command from the trajectory generator is multiplied by PRM:18 and added to
the PID loop, refer to Figure 4-1. Refer to Table 4-21 for parameter settings.
The feedforward term is divided by 256 to give more dynamic range.
Table 4-21.
Settings for VFF – Velocity Feedforward PRM:18
PRM:18
Settings
Default Value
256
Maximum Value
1000
Minimum Value
0
Type
Long (32bit)
Units
-
PRM:19 Clock Direction Multiplier had been changed to parameter #209, page
4-38.
4.2.20. PRM:20 Operating Mode
The BAI has four operating modes, refer to Table 4-22.
Table 4-22.
Operating Modes PRM:20
Operating Mode
PRM:20
Default value
4
Position command from trajectory generator
4
Position command from Clock/Dir
5
Operating mode 4 uses the trajectory generator to generate motion.
Operating mode 5 uses the an external clock/direction input to generate motion. Refer to
Table 4-23 for parameter settings.
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