Summary

• Page properties (2 modified, 0 added, 0 removed)

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Page properties

Author

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1		-xwiki:XWiki.CBenson
	1	+xwiki:XWiki.BDaouas

Content

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510	510
511	511	====== __Enable Motion Profile (**EM**)__ ======
512	512
513		-{{html clean="false" wiki="true"}}
	513	+{{html wiki="true" clean="false"}}
514	514	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
515		-EM1 (Enable Motion Profile #1) is the default mode of the LSS and is an easy way to control the servo's position with a single (serial) position command. This mode uses a trapezoidal motion profile which takes care of acceleration, constant speed travel and deceleration. Once the actual position is within a certain value of the target, it switches to a holding algorithm. The LSS commands for Angular Acceleration and Deceleration (AA/CAA/AD/CAD) Angular Stiffness (AS/CAS) and Angular holding stiffness (AH/CAH) affect this motion.<div class="wikimodel-emptyline"></div>
516		-
517	517	Ex: #5EM1&lt;cr&gt;<div class="wikimodel-emptyline"></div>
518	518
519	519	This command enables a trapezoidal motion profile. By default, the trapezoidal motion profile is enabled. If the motion profile is enabled, angular acceleration (AA) and angular deceleration(AD) will have an effect on the motion. Also, SD/S and T modifiers can be used.<div class="wikimodel-emptyline"></div>
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520	520
521	521	Ex: #5EM0&lt;cr&gt;<div class="wikimodel-emptyline"></div>
522	522
523		-This command will disable the trapezoidal motion profile. As such, the servo will move at full speed for D/MD action commands. Angular acceleration (AA) and angular deceleration(AD) won't have an effect on motion in this mode and modifiers SD/S or T cannot be used. By default the Filter Position Counter, or "FPC" is active in EM0 mode to smooth out its operation.<div class="wikimodel-emptyline"></div>
	521	+This command will disable the trapezoidal motion profile. As such, the servo will move at full speed for D/MD action commands. Angular acceleration (AA) and angular deceleration(AD) won't have an effect on motion in this mode and modifiers SD/S or T cannot be used.<div class="wikimodel-emptyline"></div>
524	524
525	525	Query Motion Profile (**QEM**)<div class="wikimodel-emptyline"></div>
526	526
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538	538
539	539	====== __Filter Position Count (**FPC**)__ ======
540	540
541		-{{html clean="false" wiki="true"}}
	539	+{{html wiki="true" clean="false"}}
542	542	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
543		-The FPC value relates to the depth of a first order filter (exponential weighted average) over the position change. This has the effect of slowing down both acceleration and deceleration while still allowing the LSS to try to reach the desired position at maximum power at all times. A smaller FPC value will reduce the smoothing effect and a larger value will increase it. To prevent having to send position commands continuously to reach the desired position in EM0/FPC active (FPC >= 2), an internal position engine (IPE) has been put in place, which is also active by default.
544		-<div class="wikimodel-emptyline"></div>
545	545	Ex: #5FPC10&lt;cr&gt;<div class="wikimodel-emptyline"></div>
546	546	This command allows the user to change the Filter Position Count value for that session. <div class="wikimodel-emptyline"></div>
547	547