Galil DMC-2X00 user manual Using the KS Command Step Motor Smoothing

ACCELERATION

TIME

VELOCITY

TIME

ACCELERATION WITH

SMOOTHING

TIME

VELOCITY WITH

SMOOTHING

TIME

Figure 6.9 - Trapezoidal velocity and smooth velocity profiles

Using the KS Command (Step Motor Smoothing):

When operating with step motors, motion smoothing can be accomplished with the command, KS. The KS command smoothes the frequency of step motor pulses. Similar to the commands, IT and VT, this produces a smooth velocity profile.

The step motor smoothing is specified by the following command:

KS a,b,c,d	where a,b,c,d is an integer from 0.5 to 8 and represents the
	amount of smoothing

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, a,b,c,d and n are numbers between 0.5 and 8 and determine the degree of filtering. The minimum value of 0.5 implies no filtering, resulting in trapezoidal velocity profiles. Larger values of the smoothing parameters imply heavier filtering and smoother moves.

Note that KS is valid only for step motors.

DMC-2X00 Chapter 6 Programming Motion y 71