ElmoMC SimplIQ Command Reference - Manual (Page 145)

SF - Smooth Factor
Purpose:
Defines the motion smoothing factor for PTP and jogging motions. Smoothing means that
the motion speed profile has no “sharp corners.” The price for smoothing is that the total
time required for completing the motion increases. For SF>0, the acceleration to the
required speed is not set immediately to its final value but takes SF milliseconds to build.
The total time required to complete the motion is increased by SF milliseconds. The
maximum SF for the actual sampling time, in milliseconds, is given by WI[22].
Attributes: Type: Parameter, Integer
Source: Program, RS-232, CANopen
Restrictions: MO=0
Default values:
0 (RS), Non-volatile
Range: [0…100]; See Notes below
Unit modes: UM=2, 3, 4, 5
Activation: BG
Notes:
ƒ WI[22] reports the maximum permitted value for SF. Setting SF greater than
WI[22] is not reported as an error, but the smoothing factor that is applied may be
less than the actual setting. WI[22] depends on the sampling time (
TS command).
ƒ The smoothing action applies for PTP and jogging motions only. SF does not affect
tabulated motions such as PT and PVT.
ƒ If a PT/PVT motion command is given while a smoothed motion is on, a jump in
the software reference may occur due to the removal of the smoothing filter. The
stop manager will limit the rate in which the position command catches up with
the software command that has jumped.
ƒ If a PTP or jog motion command is given while PT/PVT motion is on, the
smoothing effect will gradually build up, until complete smoothing is reached
after SF milliseconds.
ƒ SF does not affect the external velocity or position reference.
See also:
AC , DC , JV , SP
Reference chapters in the SimplIQ Software Manual:
Chapter 11, “Unit Modes;” Chapter 12, ”The Position Reference Generator”
SimplIQ Command Reference Manual Alphabetical Listing
MAN-SIMCR (Ver. 4.5)
3-132