U511 User’s Manual Tuning Servo Loops
Version 1.1 Aerotech, Inc. 8-39
11. Adjust the Velocity feedforward value to reduce the position error (if desired).
When doing this, attempt to get the position error within 10 to 20 machine steps
of error. The objective is to obtain smoothness in the Position Error and to get
within 10 to 20 counts of error. Figure 8-31 illustrates that “Vff” has reduced the
amount of position error. However, “Vff” still needs to be increased so the
position error can be reduced some more. This is shown in Figure 8-32 where the
position error has been reduced to within 10 counts of error. It is OK to allow
some following error in the system.
Figure 8-31. Position Error After Increasing “Vff”
Figure 8-32. Position Error Reduced to Within 10 Counts of Error Using “Vff”
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