Galil DMC-1400 KS

KS

FUNCTION: Step Motor Smoothing

DESCRIPTION:

The KS parameter smoothes the frequency of the step motor pulses. Larger values of KS

provide greater smoothness. This parameter will also increase the motion time by 3KS

sampling periods. KS adds a single pole low pass filter onto the output of the motion

profiler. This function smoothes out the generation of step pulses and is most useful

when operating in full or half step mode.

Note: The KS will cause the step output to be delayed.

ARGUMENTS: KS n where

n is a positive integer in the range between 0.5 and 16 with a resolution of 1.

USAGE:

While Moving Yes Default Value 2

In a Program Yes Default Format 4.0

Command Line Yes

Can be Interrogated Yes

Used as an Operand Yes

Controller Usage ALL

OPERAND USAGE:

_KS contains the value of the smoothing constant.

RELATED COMMANDS:

MT Motor Type

IT Independent Time Constant-Smoothing Function

MC Motion Complete

EXAMPLES:

KS 5 Set smoothing parameter to 5.

Hint: KS is valid for step motor only.

122 ● KS DMC-1400 Series Command Reference

Contents

Main DMC-1400 Series DMC-1400 Series Command Reference By Galil Motion Control, Inc. Page Contents Page Page Page Page Page Overview Controller Notation Servo and Stepper Motor Notation: Command Descriptions Arguments Operand Usage Usage Description Default Description Controller Usage Servo Update Rates Fast Firmware (DMC-1415/1416/1425) Commands which are not Allowed when Operating in Fast Mode: Commands which are Altered when Operating in Fast Mode: # $ & | ( ) n is a math (+ - * /) or logical (& |) expression ; n is a Galil command [ ] + - * / <, >, =, <=, >=, <> = mmmmmmmm is a variable name and n is a signed number in the range - 2147483648 to 2147483647 AB @ABS[n] AC @ACOS[n] AD AF AI AL AM @AN[n] n is an unsigned integer in the range 1 to 8 AO AP AR AS @ASIN[n] n is a signed number in the range -1 to 1. AT @ATAN[n] #AUTO #AUTOERR AV BA BB BC BD BG BI BK BL BM BN BO BP BS BV BZ CB CC CD CE CF CI CM #CMDERR CN CO @COM[n] #COMINT @COS[n] CR CS CW DA DC DE DL DM DP DT DV EA EB EC ED EG EI ELSE EM EN Page ENDIF EO EP EQ ER ES ET FA FE FI FL @FRAC[n] FV GA GN GM GR HM HX IA IF IH Page II Page IL IN Page @IN[n] n is an unsigned integer in the range 1 to 96 #ININT @INT[n] n is a signed number in the range -2147483648 to 2147483647. IP IT IV Bit Number Condition JG JP JS KD KI KP KS LA LE _LF* *This is an Operand - Not a command. LI Page #LIMSWI RE1 LL LM _LR* LS LV LZ MB Page MC #MCTIME MF MG MO MR MT NB 16()TM NF 4()TM where TM is the update rate (default TM is 1 msec). n ranges from 1 Hz to NO NZ 16()TM OB OC OE OF OP Page @OUT[n] n is an unsigned integer in the range 1 to 80 P1CD P2CD P1CH P2CH P1NM P2NM P1ST P2ST #POSERR PA PF PR QD QR QU QZ RA RC RD RE REM n is a text string comment RI RL @RND[n] n is a signed number in the range -2147483648 to 2147483647. : RP RS <control>R<control>S <control>R<control>V SA SA n SB SC SH @SIN[n] SL SP @SQR[n] ST @TAN[n] TB TC USAGE: OPERAND USAGE: _TC contains the value of the error code. EXAMPLES: #TCPERR TD TE TH TI TIME* TL TM TP TR TS TT TV TW UI UL VA VD VE VF VM VP VR VS VT WC WH WT XQ ZR ZS Page Index