3.1.9.1.55 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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