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128 • Chapter 6 Programming Motion DMC-1700/1800
ACCELERATION
VELOCITY
VELOCITY
VELOCITY
ACCELERATION
Figure 6.7 - 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 x,y,z,w where x,y,z,w is an integer from 0.5 to 8 and represents the amount of smoothing
The smoothing parameters, x,y,z,w 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.
After profile smoothing
No smoothing