Optima DMC-1xxx and DMC-18x2 Command Reference
IT
i
110
IT
FUNCTION: Independent Time Constant - Smoothing Function
DESCRIPTION:
The IT command filters the acceleration and deceleration functions of independent moves
such as JG, PR, PA to produce a smooth velocity profile. The resulting profile, known as
smoothing, 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 effect the trippoints AR and AD. The trippoints AR & AD monitor the
profile prior to the IT filter and therefore can be satisfied before the actual distance has
been reached if IT is NOT 1.
ARGUMENTS: IT n,n,n,n,n,n,n,n or
ITA=n where
n is a positive numbers in the range between 0.004 and 1.0 with a resolution of 1/256.
n = ? Returns the value of the independent time constant for the specified axis.
USAGE: DEFAULTS:
While Moving
Yes
Default Value
1
In a Program
Yes
Default Format
1.4
Command Line
Yes
Controller Usage
ALL CONTROLLERS
OPERAND USAGE:
_ITn contains the value of the independent time constant for the specified `n' 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 a,b,c,d axes
IT ?
Return independent time constant for A-axis
0.8
