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 feed forward feature. Any other value configures the end gain and enables the feature. The value is given in per-mil percent of estimated velocity. |
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| 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 is filtering the calculated velocity. |
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