Elmo HARmonica, HARSFEN0602 software manual 126, 11.2.2The auxiliary speed command

ElmoHARSFEN0602HARmonicaSoftwareManual PRELIMINARYDRAFT

Example:

This example demonstrates the smoothing filter and the smoothing factor SF.

Let us MO=1; JV=4000; AC=100000; DC=100000; SD=106; PM=1; RM=0; BG; with three different values SF.

1.The SF=0 graph displays sharp corners, since smoothing is ignored, therefore non-continuity of acceleration is allowed.

2.The SF=10 graph takes 10 milliseconds more to stabilize the speed software command, however the speed reference profile is much smoother.

3.For the SF=50 graph, the smoothing is so strong with respect to the total acceleration time that the AC acceleration is never reached.

126

4000
3500
		SF=0
3000		SF=10
	Speed reference	SF=50
2500	(count/sec)

2000

1500

1000

500

Time (sec)

0

0 0.02 0.04 0.06 0.08 0.1

Figure 18 – Speed command for different smooth Factor

Note: The profiler smoothes the motion and decreases (may also prevent) overshoots, while introducing a delay in the controller response.

11.2.2The auxiliary speed command

The auxiliary speed reference is generated according to the block diagram below. The parameters relevant to the auxiliary speed command generation are:

Command	Description
AG[2]	Analog input gain, counts/sec/Volt.
AS[1]	Analog offset
FR[2]	Follower gain
RM	Reference mode – 1 to use the auxiliary speed command, 0 to null the auxiliary
	speed command.