ElmoMC SimplIQ Digital Servo Drives-Bell Command Reference - Manual (Page 162)

SF - Smooth Factor
Purpose:
Defines the motion smoothing factor for PTP and jogging motions. Smoothing means
that the motion speed profile has no “sharp corners”. The price for smoothing is that
the total time required for completing the motion increases. For SF>0, the acceleration
to the required speed is not set immediately to its final value but takes SF milliseconds
to build. The total time required to complete the motion is increased by SF
milliseconds. The maximum SF for the actual sampling time, in milliseconds, is given
by WI[22].
Attributes: Type: Parameter, Integer
Source: Program, RS-232, CANopen
Restrictions: MO=0
Default values:
0 (RS), Non-volatile
Range: [0…100]; See Notes below
Unit modes: UM=2, 3, 4, 5
Activation: BG
SimplIQ: Similar
Notes:
WI[22] reports the maximum permitted value for SF. Setting SF greater than
WI[22] is not reported as an error, but the smoothing factor that is applied may
be less than the actual setting. WI[22] depends on the sampling time (
TS
command).
The smoothing action applies for PTP and jogging motions only. SF does not
affect tabulated motions such as PT and PVT.
If a PT/PVT motion command is given while a smoothed motion is on, a jump in
the software reference may occur due to the removal of the smoothing filter. The
stop manager will limit the rate at which the position command catches up with
the software command that has jumped.
If a PTP or jog motion command is given while PT/PVT motion is on, the
smoothing effect will gradually build up, until complete smoothing is reached
after SF milliseconds.
SF does not affect the external velocity or position reference.
See also:
AC , DC , JV , SP
Application note:
The Position Reference Generator
SimplIQ for Steppers Command Reference Manual Alphabetical Listing
MAN-STECR (Ver. 1.1)
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