HIMA X-BASE-PLATE-18-01 Logic control module

When operating with servo motors, motion smoothing can be accomplished with the IT and VT commands. These commands filter the acceleration and deceleration functions to produce a smooth velocity profile. The resulting velocity profile, known as S curve, 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

 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.

Using the KS Command

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 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 0.5 and 16 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.

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