User guide

Filters CME 2 User Guide
188 Copley Controls
C.5.1: Input Shaping Window
The Input Shaping tab opens a window that shows Input Shaping choices and a
representative Time and Amplitude table. Modify the settings as needed and press Apply.
Type as well as Frequency and Damping Rate may be adjusted. Overcurrent is adjustable
when a Negative Zero Vibration or a Negative Zero Vibration and Derivative filter is
chosen. If Custom is chosen as the Type, Time and Amplitude may be set manually.
C.5.2: Input Shaping Types
In CME 2 input shaping type options are:
Type
Description
Zero Vibration
Single step inputs are replaced with two step inputs of smaller magnitude. One
of which is delayed by one-half the period of vibration. Sensitive to some
modeling errors.
Zero Vibration and
Derivative
A zero derivative (of the vibration) constraint is added to Zero Vibration
impulse shaping, thereby reducing modeling errors.
Negative Zero Vibration
Faster than positive input shaping (Zero Vibration, and Zero Vibration and
Derivative), but may magnify high frequency vibrations.
Negative Zero Vibration
and Derivative
A zero derivative (of the vibration) constraint is added to Negative Zero
Vibration impulse shaping.
Custom
Time and Amplitude can be set manually.