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Hiwin D1-N Series Assembly And Commissioning Instructions page 153

Servo drive amplifier
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Figure 9.49: "Scope" for determining the acceleration feedforward
The position error in the acceleration was reduced from 90 to 60 counts.
Figure 9.50: Result obtained with feedforward
153 / 183
Assembly and Commissioning Instructions Servo amplifier D1-N  15.10.2015

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