6
Positioning mode
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
71
Parameter: Smoothing (jerk filter)
Example: Smoothing with an acceleration/time delay t
a
= 25 ms
a+
v
v
v
t
t
t
t
t
t
Smoothing = 0 %
• Filter time = 0 ms, time-optimised
Smoothing = 25 %
• Filter time t
fi
= 12.5 ms (= 1/2 t
a
)
Smoothing = 50 %
• Filter time t
fi
= 25 ms (= t
a
)
t
a
,
t
fi
t
a
t
a
t
a
t
a
t
fi
t
fi
t
fi
t
fi
t
fi
t
fi
t
a
,
t
fi
a–
a+
a–
a+
a–
Smoothing = 100 %
• Filter time t
fi
= 50 ms (= 2 t
a
)
t
a
,
t
fi
t
fi
t
fi
t
a
,
t
fi
v
t
a+
a–
t
t
fi
= 100 %
a
= parametrised acceleration
-a
= parametrised deceleration
v
= parametrised travel speed
Fig. 6.4
Timing diagram: Smoothing with an acceleration/time delay t
a
= 25 ms
Summary of Contents for CMMS-AS-G2 Series
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