Forward and Reverse Offset Voltages

The forward and reverse offset voltages are the voltages necessary to overcome static friction when beginning a move. The voltages are often the same for both directions, but can be different under some circumstances.

For example, if an axis moves against gravity in one direction and with gravity in the other direction, the offset voltage necessary to overcome static friction against gravity will be higher than that of the direction that moves with gravity.

Note  The forward and reverse offset voltages are applied if Integral Gain (Ki) 1.