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QuickSilver Controls, Inc.
Application Note:QCI-AN031
Velocity Profile
35000
G
F
Velocity (cps)
30000
E
25000
D
C
20000
15000
10000
5000
0
0
1
2
3
4
5
6
7
Time (s)
Figure 1: “Ode to Joy” Velocity Profile
As shown in Figure 1, each velocity segment corresponds to a musical note (C, D, E, F, or G).
The actual velocities that correspond to musical notes are shown in Table 1. To find the
number of individual velocity segments (21) that must be sent to the IMS operation, the entire
profile is parsed up into segments that ramp and play notes, and segments that ramp to zero
velocity (for pauses).
Note Velocity (cps*) Velocity (SVU*)
G
31360
252544077
F
27960
225163660
E
26360
212278758
D
23480
189085935
C
20920
168470092
Table 1—Musical Scale
* cps = “counts per second” from the servo with a 4000CPR encoder
* SVU = native SilverLode Velocity Units (see Scaling in User Manual)
QuickSilver Controls, Inc.
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