Galil DMC-13X8 user manual Motion Smoothing, Using the IT and VT Commands, Example Smoothing

PR 40000	Main move
BGX	Start motion
#Correct	Correction loop
AMX	Wait for motion completion
V1=10000-_DEX	Find linear encoder error
V2=-_TEX/4+V1	Compensate for motor error
JP#END,@ABS[V2]<2	Exit if error is small
PR V2*4	Correction move
BGX	Start correction
JP#CORRECT	Repeat
#END
EN

Motion Smoothing

The DMC-13X8 controller allows the smoothing of the velocity profile to reduce the mechanical vibration of the system.

Trapezoidal velocity profiles have acceleration rates which change abruptly from zero to maximum value. The discontinuous acceleration results in jerk which causes vibration. The smoothing of the acceleration profile leads to a continuous acceleration profile and reduces the mechanical shock and vibration.

Using the IT and VT Commands:

When operating with servo motors, motion smoothing can be accomplished with the IT and VT command. These commands filter the acceleration and deceleration functions to produce a smooth velocity profile. The resulting velocity profile, has continuous acceleration and results in reduced mechanical vibrations.

The smoothing function is specified by the following commands:

IT x,y,z,w	Independent time constant
VT n	Vector time constant

The command, IT, is used for smoothing independent moves of the type JG, PR, PA and the command, VT, is used to smooth vector moves of the type VM and LM.

The smoothing parameters, x,y,z,w and n are numbers between 0 and 1 and determine the degree of filtering. The maximum value of 1 implies no filtering, resulting in trapezoidal velocity profiles. Smaller values of the smoothing parameters imply heavier filtering and smoother moves.

The following example illustrates the effect of smoothing. Fig. 6.7 shows the trapezoidal velocity profile and the modified acceleration and velocity.

Note that the smoothing process results in longer motion time.

Example - Smoothing

PR 20000	Position
AC 100000	Acceleration
DC 100000	Deceleration

Chapter 6 Programming Motion • 100 USER MANUAL