Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 509 of 909
KS=formula
Constant, Velocity Filter Option (for KD)
APPLICATION: Motion control
DESCRIPTION: Velocity filter option (for KD)
EXECUTION: Buffered until an F command is issued
CONDITIONAL TO: N/A
LIMITATIONS: Must be positive
READ/REPORT: RKS
WRITE: Read/write
LANGUAGE ACCESS: Assignment, formulas and conditional testing
UNITS: N/A
RANGE OF VALUES: 0 to 3 (larger number = longer filter time)
TYPICAL VALUES: 1
DEFAULT VALUE: 1
FIRMWARE VERSION: 5.x and later
COMBITRONIC: KS:3=3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The PID filter's KS term is used to adjust the filtering of the KD term.
NOTE: The motion or servo modifications from this command must be applied by
the F function. For details, see F on page 446.
The KD term requires a filter because the velocity error signal is inherently noisy and
quantized. This is because the measurement of velocity is based on encoder counts per
PIDsample. It is often a difference of just a few counts.
For example, a speed of VT=65536 is only 1 count per PID sample. This means that in real
time, the number jumps between whole numbers. To smooth this out, the quantity can be
averaged. The KS value controls the amount of filtering applied. Refer to the following table.
KS
Value
Filter Sample
Length
(PID Samples)
Notes
0 1 No filtering
1 4 Default
2 8
3 16
Part 2: Commands: KS=formula

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English