User's Manual

HARSFEN0602
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35
-10000
-5000
0
5000
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35
-400
-200
0
200
Counts/sec
Counts
Time (Sec)
Time(sec)
Position reference
Target position
AC
DC
DC
AC
12.1.5 Jogging
In a jogging motion, the motor is commanded to move in a fixed speed. The acceleration (or deceleration) to
the desired speed are the AC and the DC parameters.
Jog motions may be initiated any time by using the JV command, not necessarily from a stationary state.
The Jog mode decisions, made every position control cycle, are given in the flow chart below.
Start
JV > 0 and
Speed > JV?
Yes Apply DC
Speed = JV? Yes
Apply AC
Maintain JV
JV< 0 and
Speed < JV?
Yes
Apply DC
Figure 25 – Jog Decisions Flow Chart
All the parameters of the above flow chart, including AC,DC, JV, and the position target are updated by a
BG command, or by its hardware equivalent (refer the IL[N] command).