SkyeFire:
I looked up the $FILTER system variable. Would you be able to elaborate a bit on the effect of choosing a certain value from the range of integers 0-16, and how the magnitude of that value would affect acceleration versus some other smaller or larger value?
Many thanks in advance.
It's been a while, and the documentaiton I recall was a bit contradictory, but the basic idea of $FILTER is that it established a minimum amount of time (in IPO cycles, IIRC) any motion command must be spread across. The idea is to force a certain minimum degree of motion smoothing, even under RSI. Think of it as a small low-pass filter on the motion planner.
In effect, if a sequence of three motions (A->B, B->A, A->B) is programmed such that the motion between the points takes less time than $FILTER dictates, the motion planner will slow the motion down so that it is "stretched" out enough to take as long as $FILTER requires. Reducing $FILTER can allow the robot to jerk hard enough on closely-spaced motions that it can damage itself, especially under RSI control.