Coefficients.txt

Coefficient list for exfoliator
Boundary - the position Z moves to without checking force. Too low and the device will move slower, but too high will result in a crash and total failure
Tolerance - how close to the desired force is acceptable. IKA lists the error as 0.3%+2g
Taresleep - positive float, how long to wait for the scale to settle after taring
XYZVel - positive float, sets the stage velocities each time the coeffs are reloaded. Superseded by Approach and Force velocities. Max 12.5 mm/s
Approach Vel - how quickly the stage moves after reaching the boundary and before making contact. Higher values move faster, result in larger initial contact force
Contact Backoff - how far the stage backs off after initial contact to try to have zero applied force before taring
Force Vel - how quickly the stage moves after making contact while trying to reach a set force. Lower values should be more accurate
Stable Time - how long to wait between movements when trying to reach a set force, to allow the scale to equilibrate
Max Step: |Z-Step|<Intercept+|Diff/Slope|, where Diff is the difference between current and target force. Larger intercepts and smaller slopes move more quickly but are more susceptible to overshoot
Derivative Offset: A 'fudge factor' on the calculated spring constant. Larger values move slower but help prevent overshoot. 
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Boundary (mm), 83.0
Tolerance (%), 0.3
Tolerance (g), 3
Taresleep (s), 8
XVel (mm/s), 8
YVel (mm/s), 8
ZVel (mm/s), 2
Approach Vel (mm/s), 0.1
Contact Backoff (mm), -0.03
Force Vel (mm/s), 0.1
Stable Time (s), 3
Max step reciprocal slope (g/mm), 10000
Max step intercept (mm), 0.02
Derivative offset (g/micron), 0.2
Weight cap, 5000
Weight floor, -3000