Summary

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

Details

Page properties

Author

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

Content

...	...	@@ -510,20 +510,16 @@
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 profile. Modifiers like SD/S and T can be used in EM1.<div class="wikimodel-emptyline"></div>
516		-
517	517	Ex: #5EM1&lt;cr&gt;<div class="wikimodel-emptyline"></div>
518	518
519		-This command enables a trapezoidal motion profile for servo #5 <div class="wikimodel-emptyline"></div>
	517	+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>
520	520
521	521	Ex: #5EM0&lt;cr&gt;<div class="wikimodel-emptyline"></div>
522	522
523		-This command will disable the built-in trapezoidal motion profile. As such, the servo will move at full speed to the target position using the D/MD action commands. Modifiers like SD/S or T cannot be used in EM0 mode. By default the Filter Position Counter, or "FPC" is active in EM0 mode to smooth out its operation. EM0 is suggested for applications where an external controller will be determining all incremental intermediate positions of the servo's motion, effectively replacing a trajectory manager.
	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		-<div class="wikimodel-emptyline"></div>
526		-
527	527	Query Motion Profile (**QEM**)<div class="wikimodel-emptyline"></div>
528	528
529	529	Ex: #5QEM&lt;cr&gt; might return *5QEM1&lt;cr&gt;<div class="wikimodel-emptyline"></div>
...	...	@@ -540,10 +540,8 @@
540	540
541	541	====== __Filter Position Count (**FPC**)__ ======
542	542
543		-{{html clean="false" wiki="true"}}
	539	+{{html wiki="true" clean="false"}}
544	544	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
545		-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.
546		-<div class="wikimodel-emptyline"></div>
547	547	Ex: #5FPC10&lt;cr&gt;<div class="wikimodel-emptyline"></div>
548	548	This command allows the user to change the Filter Position Count value for that session. <div class="wikimodel-emptyline"></div>
549	549