Using The Ks Command (Step Motor Smoothing) - Galil Motion Control DMC-1000 User Manual

SP 5000
IT .5
BG X
ACCELERATION
VELOCITY VELOCITY
ACCELERATION
VELOCITY
Figure 6.6 - Trapezoidal velocity and smooth velocity profiles
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
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.
DMC-1000
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Speed
Filter for S-curve
Begin

Using the KS Command (Step Motor Smoothing):

where x,y,z,w is an integer from 1 to 16 and represents the amount of smoothing
Chapter 6 Programming Motion • 77