Using The Ks Command (Step Motor Smoothing) - Galil Motion Control DMC-14 5 Series Manual

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
The command, IT, is used for smoothing independent moves of the type JG, PR, PA and the command,
VT, is used to smooth vector moves of the type VM and LM.
The smoothing parameters, x,y 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.
86 Chapter 6 Programming Motion
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Figure 6.7 – Trapezoidal velocity and smooth velocity profiles
where x,y is an integer from 0.5 to 8 and represents the amount of smoothing
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