User`s manual

Non-Programmed Motion
GFK-1742A Chapter 6 Non-Programmed Motion 6-5
6
3. The axis is moved, at the configured
Jog Velocity
and with the configured
Jog Acceleration
rate and
Jog Acceleration Mode
, the number of user units specified by the
Home Offset
value from the home reference position. If
Home Offset
= 0, the axis moves back to the
position of the marker pulse.
4. The axis is stopped at the configured
Jog Acceleration
rate and with the configured
Jog
Acceleration Mode
.
5. The DSM314 sets the
Commanded Position
and
Actual Position
%AI status words to the
configured
Home Position
value; the DSM314 sets the
Position Valid
%I bit to indicate the
home cycle is complete.
Jogging with the DSM314
The
Jog Velocity
,
Jog Acceleration
, and
Jog Acceleration Mode
are configuration parameters in
the DSM314. These values are used whenever a
Jog Plus
or
Jog Minus
%Q bit is turned ON.
Note that if both bits are ON simultaneously, no motion is generated. The
Jog Acceleration
and
Jog Acceleration Mode
are also used during
Find Home
,
Move at Velocity, Abort All Moves
and
Normal Stop
.
Programmed motions use the
Jog Velocity
and
Jog Acceleration
as defaults.
A
Jog Plus/Minus
%Q command can be performed when no other motion is commanded, or while
programmed motion is temporarily halted due to a
Feed Hold
%Q command. The
Enable Drive
%Q bit does not need to be ON to jog, but it can be ON. Turning on a
Jog Plus/Minus
%Q bit
will automatically close the Enable Relay, and turn on the
Drive Enabled
%I bit. When an
overtravel limit switch is OFF,
Jog Plus/Minus
and
Clear Error
%Q bits may be turned on
simultaneously to move away from the open limit switch. Thus a
Jog Plus
%Q command will not
work while the positive end of travel switch is open and
Jog Minus
will not work while the
negative end of travel switch is open. Turning a Jog %Q bit OFF causes the axis to decelerate and
stop. If a
Jog
%Q bit is momentarily turned off, even for one PLC sweep, the axis will decelerate
to a stop then accelerate and continue jogging.
Move at Velocity Command
A
Move at Velocity
%AQ command is generated by placing the value 22h in the first word of
%AQ data assigned to an axis. The second and third words together represent a signed 32-bit
velocity. Note that the third word is the most significant word of the velocity. Once the command
is given, the %AQ data can be cleared by sending a
NULL
command, or changed as desired.
Move at Velocit
y will not function unless the servo drive is enabled (
Enable Drive
%Q command
and
Drive Enabled
%I status bit are set).
The listing of %AQ immediate commands shows the words in reverse order to make
understanding easier. For example, to command a velocity of 512 user units per second in a
DSM314 configured with %AQ data starting at %AQ1, the following values should be used:
0022h (34 decimal) in %AQ1, 0200h (512 decimal) in %AQ2, and 0 in %AQ3. When the
DSM314 receives these values, if
Drive Enabled %I
is ON,
Abort All Moves %Q
is OFF, and no
other motion is commanded it will begin moving the axis at 512 user units per second in the
positive direction using the current
Jog Acceleration
and
Acceleration Mode
.
The
Drive Enabled
%I bit must be ON before the DSM314 receives the immediate command or
an error will occur. Also, if a
Move at Velocity
command is already in the %AQ data, the velocity