TIME
VELOCITY
TIME
ACCELERATION
TIME
ACCELERATION WITH
SMOOTHING
TIME
VELOCITY WITH
SMOOTHING
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.
116 • Chapter 6 Programming Motion DMC-2X00
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