Retract feed forward, Extend acceleration feed forward, Retract acceleration feed forward – Delta RMC101 User Manual
Page 783: Dead band eliminator, C.1.15 retract feed forward, C.1.16 extend acceleration feed forward, C.1.17 retract acceleration feed forward, C.1.18 dead band eliminator
Appendix C: Parameter Field Reference
C-13
gains.
C.1.15 Retract Feed Forward
Default: 100
Range: 0 to 65535
Same as Extend Feed Forward, except that it is used when retracting.
Note:
Retracting is the direction that returns decreasing Transducer Counts.
C.1.16 Extend Acceleration Feed Forward
Default: 0
Range: 0 to 65535
The Extend Acceleration Feed Forward causes the controller to give extra drive while
accelerating and a braking drive while decelerating (negative acceleration) in the extend direction.
The drive due to Acceleration Feed Forward is calculated as follows:
The Acceleration Feed Forward provides a second order approximation ( prediction ) of how
much drive is required to move.
If the position unit is 0.001 inches, this equals millivolts of drive per 100 inches per second per
second.
Why Bother?
The acceleration feed forward helps the axis track better while accelerating or decelerating. The
acceleration feed forwards should not be adjusted until the velocity feed forwards are adjusted
correctly.
C.1.17 Retract Acceleration Feed Forward
Default: 0
Range: 0 to 65535
Same as Extend Acceleration Feed Forward, except it is used when retracting.
C.1.18 Dead Band Eliminator
Default: 0