Rockwell Automation 999 IMC S Class Compact Motion Controller (Cat. No. 4100-999-122) - Manual (Page 140)

5-60 Understanding IMC-S/23x Setups
Publication 999-122 - January 1997
Feedforward Gain
Feedforward gain (F gain) allows the following error (position error
while the axis is moving) of the system due to velocity to be reduced
nearly to zero. This is important in applications such as electronic
gearing and synchronization applications where it is necessary that the
actual axis position not lag behind the commanded position at any time.
Self-Tuning the Servo
Gains After entering the servo setup menu and selecting a physical SERVO
axis, the IMC-S/23x asks
Toggle to YES to have the IMC S Class automatically tune the servo
gains and determine the maximum acceleration, deceleration, and
velocity of this axis.
To determine the loop response, the self tuning routine moves the axis
in the specified tuning direction as shown below.
Select: AXIS #
Tune Servo Parameters? NO