Motion Smoothing - Galil Motion Control DMC-21 5 Series User Manual

Motion Smoothing

The DMC-21x5 controller allows the smoothing of the velocity profile to reduce the mechanical vibration of the
system.
Trapezoidal velocity profiles have acceleration rates which change abruptly from zero to maximum value. The
discontinuous acceleration results in jerk which causes vibration. The smoothing of the acceleration profile leads to
a continuous acceleration profile and reduces the mechanical shock and vibration.
Using the IT Command:
When operating with servo motors, motion smoothing can be accomplished with the
This command filters the acceleration and deceleration functions to produce a smooth velocity
profile. The resulting velocity profile, has continuous acceleration and results in reduced mechanical
vibrations.
The command, IT, is used for smoothing independent moves of the type JG, PR,
of the type VM and LM.
The smoothing parameter used is a number between 0 and 1 to determine the degree of filtering. The maximum
value of 1 implies no filtering, resulting in trapezoidal velocity profiles. Smaller values of the smoothing parameters
imply heavier filtering and smoother moves.
The following example illustrates the effect of smoothing. Figure 6.18 shows the trapezoidal velocity profile and
the modified acceleration and velocity.
Note: Enabling motion smoothing results in longer motion time.
Example – Smoothing
PR 20000;
AC 100000;
DC 100000;
SP 5000;
IT .5;
SH A;
BG A;
AM A;
MO A;
EN;
Chapter 6 Programming Motion ▫ 74
'define position move
'define acceleration
'define deceleration
'define speed
'filter for smoothing
'enable A axis
'begin motion
'wait until motion is finished
'disable A axis
'end program
ACCELERATION
VELOCITY VELOCITY
ACCELERATION
VELOCITY
Figure 6.18: Acceleration and trapezoidal velocity without smoothing (above)
and smoothed acceleration and trapezoidal velocity profiles (below)
IT command.
PA and to smooth vector moves
DMC-21x5 User Manual 1.0a1