AXY:MC-Basic:group.SMOOTHFACTOR

This property is used to control the amount of smoothing applied to the s-curve profile. The smooth factor may be set from 1 to 100 to correspond approximately to a time of acceleration. This acceleration may range from V/A to 3*V/A (where V is the cruise velocity and A is the acceleration). Setting the factor to 0 engages the trapezoidal velocity, with no smoothing. Setting the factor to –1 returns jerk control, in which the exact value of JERK is set. When SMOOTHFACTOR is set to –1, the JERK property is used to control the amount of smoothing. This property can be used inside a motion command to override the permanent value.

IMPORTANT

If MODAL value of the PrfType equals -1 (default from 4.7.3!) the SmoothFactor is the only one who determines the profile type. Values of the SmoothFactor between [1,100] and the value of -1 define the SINE-ACCELERATION profile and value of zero the VELOCITY-TRAPEZE profile. If MODAL value of PrfType differs from -1, SmoothFactor has no influence on the type of the profile. Still the SmoothFactor defines the JERK value (as before).

Short form

<group>.Smooth

Syntax

<group>.SmoothFactor = <expression>
?<group>.SmoothFactor

Availability

All versions

Type

Double

Range

-1, 0, 1 to 100

Default

1

Scope

Configuration, Task or Terminal

Limitations

To set the value within a task, the group must be attached to that task (using the ATTACH command).

Examples

Group1.Smoothfactor = 30

Move group1 {100, 200} SmoothFactor = 20

See Also

• group.JERK