6
Positioning mode
Festo – GDCP-CMMS/D-FW-EN – 1404NH – English
129
Parameter example: Smoothing (jerk filter)
The progression of the parameterised acceleration (a+)/deceleration (a–) can be altered with smooth-
ing (jerk filter).
If smoothing is “100 %”, the acceleration/deceleration ramps are filtered with the maximum filter time
t
fi
“50 ms”. The drive is moved with the filtered acceleration/deceleration, and the least stresses occur
for the drive mechanics. The parameterised velocity (v
N
) and the position are reached with a time delay.
If smoothing is “0 %”, the smoothing function is deactivated and the acceleration/deceleration ramps
are not filtered. The drive is moved with the parameterised acceleration/deceleration, and the highest
stresses occur for the drive mechanics. The parameterised velocity (v
N
) and the position are reached in
the shortest amount of time.
Diagram: Filter time t
fi
as a function of smoothing
Smoothing [%]
Filter time t
fi
[ms]
20
80
60
40
100
10
20
30
40
50
Fig. 6.10 Diagram: Filter time t
fi
as a function of smoothing
Summary of Contents for CMMD-AS series
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