Galil DMC-1400 Manuale Utente
114 ● IT
DMC-1400 Series Command Reference
IT
FUNCTION: Independent Time Constant - Smoothing Function
DESCRIPTION:
The IT command filters the acceleration and deceleration functions in independent moves of
JG, PR, PA type to produce a smooth velocity profile. The resulting profile, known as 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.
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 and AD. 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.
has been reached if IT is NOT 1.
ARGUMENTS: IT n
where
n is a positive number in the range between 0.004 and 1.0 with a resolution of 1/256
“?” returns the value of the independent time constant.
USAGE:
While Moving
Yes
Default Value
1.0
In a Program
Yes
Default Format
1.4
Command Line
Yes
Can be Interrogated
Yes
Used as an Operand
Yes
Controller Usage ALL
OPERAND USAGE:
_IT will return the value of the independent time constant.
EXAMPLES:
IT 0.8
Set independent time constants
IT ?
Return independent time constant
0.8