ElmoMC SimplIQ Software Manual - Manual (Page 135)

SimplIQ Software Manual Unit Modes
MAN-SIMSW (Ver. 1.4)
10-5
Example 2:
This example demonstrates the smoothing filter and the smoothing factor SF:
MO=1; JV=4000; AC=100,000; DC=100,000; SD=1000000; PM=1; RM=0;BG
SF has three different values:
ƒ
The SF=0 graph displays sharp corners, because smoothing is ignored, thereby
allowing non-continuity of acceleration.
ƒ The SF=10 graph takes 10 milliseconds more to stabilize the speed software
command; however, the speed reference profile is much smoother.
ƒ For the SF=50 graph, the smoothing is so strong with respect to total acceleration time
that the AC acceleration is never reached.
0 0.02 0.04 0.06 0.08 0.1
0
500
1000
1500
2000
2500
3000
3500
4000
SF=0
SF=10
SF=50
Time (sec)
Speed reference
(count/sec)
Figure 10-4: Speed Command for Different Smooth Factors
The profiler smoothes the motion and decreases (and may also prevent) overshoots,
while introducing a delay in the controller response.
10.2.2 The Auxiliary Speed Command
The auxiliary speed reference is generated according to the block diagram that follows.
The parameters relevant to auxiliary speed command generation are:
Parameters Description
AG[2] Analog input gain, counts/second/volt
AS[1] Analog offset
FR[2] Follower gain
KV[88]…KV[99] Filter for analog input
RM Reference mode:
1: Use auxiliary speed command
0: Null auxiliary speed command
Table 10-3: Auxiliary Speed Command Parameters