Motion Coordinator Technical Reference Manual
Trio BASIC Commands 8-181
Axis Parameters
Description:
The velocity feed forward gain is a constant which is multiplied by the change in
demand position. Adding velocity feed forward gain to a system decreases the fol-
lowing error during a move by increasing the output proportionally with the speed.
For a velocity feed forward term Kvff and change in position ∆Pd, the contribution
to the output signal is:
Ovff=Kvff x
∆
Pd
Note:
Servo gains have no effect on stepper motor axes.
VP_SPEED
Type:
Axis Parameter (Read Only)
Alternate Format:
VPSPEED
Description:
The velocity profile speed is an internal speed which is ramped up and down as the
movement is velocity profiled. It is reported in user units/sec.
Example:
Wait until command speed is achieved:
MOVE(100)
WAIT UNTIL SPEED=VP_SPEED
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