3.1.9.1.53 0x2015 Velocity feed forward
Velocity feed-forward takes the derivative of the target position and filters the result by using the 1st order
low pass filter. The output of the filter is then multiplied by the configured gain.
The end result is added as an additional input to the velocity controller in cascaded position control mode.
Name
Index:Sub Type
Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access
PDO
Mapping
Gain
0x2015:1
INT
16
0
5000
0
readwrite
Setting the gain to 0 disables the feedforward feature. Any other value configures the end gain and
enables the feature. The value is given in per-mil percent of estimated velocity.
Name
Index:Sub Type
Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access
PDO
Mapping
Cutoff
frequency
0x2015:2
UINT
16
5
2000
20
Hz
readwrite
Cutoff frequency of the 1st order low pass filter that filters the calculated velocity.
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