Galil DMC-4040 - Page 132

The command, IT, is used for smoothing independent moves of the type JG, PR, PA and 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. 6.15 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
SP 5000 Speed
IT .5 Filter for smoothing
BG X Begin
Figure 6.20: Trapezoidal velocity and smooth velocity profiles
Chapter 6 Programming Motion • 123 DMC-40x0 User Manual
After profile smoothing
No smoothing
ACCELERATION
VELOCITY
VELOCITY
VELOCITY
ACCELERATION