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Reference Guide for a 2-Axis Robot Arm with 2-Phase Stepping
Motors Incorporating Resolvers
2.4.2 Acceleration or Deceleration Calculation
Calculate the speed of an arm using a moving average filter.
• Calculation with moving average filter
= dT ÷ ( 1 − ����
) .
−1
When converting to a discrete value system, the following equation is obtained due to integral characteristic
( ���� ) = {( 1 − ����
����
����
τ = M × dT
( ���� ) = {( 1 − ����
����
dT = Sampling time, M = Sampling count
����
Y = ����
( ���� ) × ����
On the assumption of the input is X and the output is Y, the following is obtained.
����
( 1 − ����
) ���� = ( 1 − ����
−1
Y ( ���� ) = ���� ( ���� − 1 ) +
1
Initial value
Y ( 0 ) =
× { ���� ( 0 ) + ���� ( −1 ) + ���� ( −2 ) ⋯ ���� ( −���� + 1 )}
����
The initial values are the XY coordinate values of the position for returning to the motor origin or the position
after PTP control.
General examples of the operation of the moving average filter are shown below and on the next page.
Note that the moving average is assumed to be taken from the most recent four values in the filter in the
examples of operation.
R01AN5644EJ0100 Rev.1.00
Jan 22, 2021
) × ( �������� ÷ ���� )} ÷ ( 1 − ����
−����
) ÷ ���� } ÷ ( 1 − ����
)
−����
−1
) ÷ ���� × ����
−����
1
× { ���� ( ���� ) − ���� ( ���� − ���� )}
����
t = 0: Initial value
New
X(0)
Input
t = 1: Sampling has been handled once
Newly acquire X (1) data and shift the data in the filter.
New
X(1)
)
−1
Old
X(-1) X(-2) X(-3)
Deletion
M = 4
Old
X(0) X(-1) X(-2)
M = 4
RX24T, RX72M,
RAA3064002GFP/RAA3064003GFP
Page 43 of 62
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