On Sun, 29 Jan 2012 19:08:23 -0600
John Thornton <bjt...@gmail.com> wrote:

> So you agree with Andys description? I have a hard time keeping them 
> straight...
> 
> John
> 
> On 1/29/2012 3:46 PM, Jon Elson wrote:
> > John Thornton wrote:
> >> So, looking at one of the links for servo tuning is our
> >>
> >> FF0 = Velocity Feed Forward Gain.
> >> FF1 = Position Feed Forward Gain.
> >>
> > You have these reversed.
I think I have this right. ;-)

0 is a constant
1 is first derivative and therefore velocity
2 is 2nd   derivative and      "    accel
3 is 3rd       "       "       "    jerk

Dave

> >
> > Jon
> >
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