Yaskawa SMC–4000 - Manual (Page 143)

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SMC–4000 User Manual
IT (Independent Time Constant)
[Motion]
DESCRIPTION:
The IT command filters the acceleration and deceleration functions in independent moves of JG (Jog) , PR
(Position Relative) , and PA (Position Absolute) type to produce a smooth velocity profile. The resulting
profile, known as an S-curve, has continuous acceleration and results in reduced mechanical vibrations. IT
sets the bandwidth of the filter where 1 means no filtering and 0.004 means maximum filtering. Note that
the filtering results in longer motion time.
The use of IT will not effect the trippoints AR (After Relative) and AD (After Distance) . The trippoints
AR and AD monitor the profile prior to the IT filter and therefore can be satisfied before the actual distance
has been reached if IT is NOT 1.
An IT value less then 1 will make the move take longer. This can be compensated for by increasing the
acceleration and deceleration paraemters
ARGUMENTS: IT x, y, z, w or ITX=x or IT a, b, c, d where
n is a positive number with a resolution of 1/256
USAGE:
OPERAND USAGE:
_ITn will return the value of the independent time constant where n is an axis letter.
EXAMPLES:
While Moving Yes Minimum Value 0.004
In a Program Yes Maximum Value 1.000
Command Line Yes Default Value 1.0
Can be Interrogated Yes Default Format 1.4
Used as an Operand Yes
Virtual Axis Yes
IT 0.8 Set independent time constants
MG_ITX Return independent time constant
0.8