PID info

Im in the middle on pncconfig and I have alot of info on my machine and was able to find all info I needed for encoders. My next step in this PID info. As well as ff1 ff2 deadband....etc. I was just wondering what the abreviations stood for. P.I.D. FF0. FF1.FF2.BIAS.DEADBAND. I probably have the info I need for them or the formula to calculate them. Any guidance would be great. Im running an anolog system with rotary encoders too fyi. Anilam 3000M and Mesa 7i97 board
                                       Thanks KEE

For a velocity mode servo:

P = Proportional term
I = Integral term
D = Derivative term
FF0 = Command feed forward
FF1 = Velocity feed forward
FF2 = Acceleration feed forward

In a control loop for velocity mode servos, typically
only P,FF1, and perhaps FF2 are used

gnipsel.com/linuxcnc/tuning/servo.html

Is a basic velocity mode drive tuning tutorial