DMC-100/1500 Command Reference
IT
•
73
DMC-1000
DMC-1500
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.
The use of IT will not affect the trippoints AR and AD. The trippoints AR & AD monitor the
profile prior to the IT filter and therefore can be satisfied before the distance has been
reached if IT is not 1.
ARGUMENTS:
IT x,y,z,w ITX=x IT a,b,c,d,e,f,g,h
where
x,y,z,w are positive numbers in the range between 0.004 and 1.0 with a resolution of 1/256.
"?" returns the value of the independent time constant for the specified axis.
USAGE: DEFAULTS:
While Moving
Yes
Default Value
In a Program
Yes
Default Format
7.0
Command Line
Yes
Can be Interrogated
Yes
Used as an Operand
Yes
OPERAND USAGE:
_ITx contains the value of the independent time constant for the specified ‘x’ axis.
RELATED COMMANDS:
VT
Vector Time Constant for smoothing vector moves
EXAMPLES:
IT 0.8, 0.6, 0.9, 0.1
Set independent time constants for x,y,z,w axes
IT ?
Return independent time constant for X-axis
0.8
