CalibrationIirFilter

The CalibrationIirFilter parameter smooths sharp changes in the velocity command. This parameter specifies the time constant of a first-order, low-pass Infinite Impulse Response (IIR) filter that is applied to the calibration component of motion. The value of this parameter corresponds approximately to the time interval over which an impulse, which is a sharp change, occurs in calibration.

A value of zero for the CalibrationIirFilter deactivates the filtering. A larger value causes more filtering and lower accelerations.

Figure: Calibration and Backlash Time Constant Effect of Velocity Change