AXY:MC-Basic:axis.SMOOTHFACTOR

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This property is used to control the amount of smoothing applied to the s-curve profile. The smooth factor may be set to a value in the range 1 to 100, to correspond approximately to an acceleration time ranging 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 is used inside a motion command to override the permanent value.


IMPORTANT.svgIMPORTANT
  • 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

<axis>.Smooth

Syntax

<axis>.SmoothFactor = <expression>

?<axis>.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 axis must be attached to that task (using the ATTACH command).

Examples

Axis1.Smoothfactor = 30

Move Axis1 100 SmoothFactor = 20

See Also

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