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 1000 Hz readwrite

Cutoff frequency of the 1st order low pass filter that filters the calculated velocity.