![]() However, many mechanical systems and motors are not perfectly linear (though they are close). This can also be retrieved using getSelectedSensorVelocity (routine or VI). Using Tuner (Self-test Snapshot or Plotter), we’ve measured a peak velocity of 9326 native units per 100ms at 100% output. If providing a feedforward is necessary, we recommend using the arbitrary feed forward term (4 param Set) to better implement this. During this mode target position is multiplied by kF and added to motor output. When using position closed loop, it is generally desired to use a kF of ‘0’. MotionMagic/ MotionProfile / MotionProfileArc: kF is multiplied by the runtime-calculated target and added to output. Velocity Closed Loop: kF is multiplied by target velocity and added to output.Ĭurrent (Draw) Closed Loop: kF is multiplied by the target current-draw and added to output. If using any of the control modes, we recommend calculating the kF: ![]() The velocity feed forward (kF) is different from the Arbitrary Feed Forward in that it is a specialized feed forward designed to approximate the needed motor output to achieve a specified velocity.
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