Velocity Smoothing with IT and VT Commands

Learn how to implement smooth velocity profiling in Galil motion controllers using IT and VT commands to eliminate mechanical jerk. This technical guide covers the differences between trapezoidal and smoothed velocity profiles, explains the digital filtering algorithms used for acceleration smoothing, and provides practical examples for both current generation controllers (using IT command) and prior generation controllers (using VT command). Includes vector motion considerations and mathematical modeling of the S-curve filter.