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Moog Animatics SmartMotor™ Developer's Guide, Rev. L
Page 495 of 909
KA=formula
Constant, Acceleration Feed Forward
APPLICATION:
Motion control
DESCRIPTION:
Acceleration feed forward
EXECUTION:
Buffered until an F command is issued
CONDITIONAL TO:
N/A
LIMITATIONS:
Must be positive
READ/REPORT:
RKA
WRITE:
Read/write
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
N/A
RANGE OF VALUES:
0 to 65535
TYPICAL VALUES:
0 to 3000
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
KA:3=1234
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
KA sets the buffered acceleration feed-forward gain. The acceleration feed-forward term
helps the PID filter cope with the predictable effects of acceleration and inertia.
NOTE:
The motion or servo modifications from this command must be applied by
the F function. For details, see F on page 446.
The KA gain factor is only applied in position (MP) and velocity (MV) moves. The default value
for KA is 0, and acceptable values range from 0 to 65535.
It is difficult or impossible to tune KA in low-inertia systems. Even in high-inertia systems, it
can be a challenge to observe the benefit during brief acceleration periods. Therefore, if you
think that modifying KA could be useful, use the SMI software Tuner tool for assistance.
EXAMPLE:
KA
=200
'Set buffered acceleration feed forward
F
'Update PID filter
Part 2: Commands: KA=formula
