AF set acceleration feed-forward gain
IMM PGM MIP
USAGE ♦ ♦ ♦
SYNTAX xxAFnn or xxAF?
PARAMETERS
Description xx [ int ] - axis number
nn [float] - acceleration feed-forward gain factor
Range xx - 1 to MAX AXES
nn- - 0 to 2e9, or ? to read current setting
Units xx - none
nn - none
Defaults xx missing: error 37, AXIS NUMBER MISSING
out of range: error 9, AXIS NUMBER OUT OF RANGE
nn missing: error 38, COMMAND PARAMETER MISSING
out of range: error xx2, PARAMETER OUT OF RANGE
DESCRIPTION This command sets the acceleration feed-forward gain factor Af. It is active for
any DC servo based motion device.
.
See the "Feed-Forward Loops" in Motion Control Tutorial section to
understand the basic principles of feed-forward.
Note:
The command can be sent at any time but it has no effect until the UF (update
filter) is received.
RETURNS If the “?” sign takes the place of nn value, this command reports the current
setting
REL. COMMANDS KI - set integral gain factor
KD - set derivative gain factor
KP - set proportional gain factor
KS - set saturation gain factor
VF - set velocity feed-forward gain
UF - update filter
EXAMPLE 3VF1.5 | set acceleration feed-forward gain factor for axis # 3 to 1.5
3AF? | report present axis-3 acceleration feedforward setting
0.9 | controller returns a value of 0.9
3AF0.8 | set acceleration feed-forward gain factor for axis # 3 to 0.8
3UF | update PID filter; only now the AF command takes effect
Section 3 – Remote Mode 3-25
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