We have seen a big benefit in having Velocity Feed Forward on Hydraulic Folding Machine Systems where compressible fluid and flexible hoses make closed loop tuning more difficult. Velocity Feed Forward helps provide stability by allowing the majority of the command signal to be provided through Open Loop means.

We sometimes have difficulty on customer machines that use chain driven roll-formers to position in closed loop. The chains create backlash. It is very similar to the hydraulics problem in that there is not a rigid zero backlash system that we are controlling. These chain driven systems generally also have a line encoder in part because of the inaccuracies introduced by the chain.

We already have Velocity and Acceleration Feed Forward parameters and code available in the Selective Closed Loop configuration. This change makes these settings and functionality available for Two Encoder Feed to Stop systems.

To avoid causing issues for existing customers receiving software updates, a new Setup has been added called Enable Feed Forward Settings. It defaults to No. When set to Yes it enables the two pre-existing settings;

1. Max Velocity at 10V.
2. Acceleration Feed Forward Gain.