User's Manual

HARSFEN0602
Jog motions can continue forever. The position reference jumps when it arrives the modulo boundary (+/-2
30
for XM=0 or +/- XM/2) but the speed is kept constant
The parameters of Jog motion are summarized in the table below.
Parameter Action
AC
Acceleration in counts/
2
sec
DC
Deceleration in counts/
2
sec
SF Smooth factor, in milliseconds
JV Jog velocity
The JV command has double role. It specifies that the next motion will be a Jogging, and also to what speed
the jog will target.
12.1.5.1 Example – Simple jogging
The example is started by the command sequence JV=3000;BG
The position reference starts to accelerate until the jog speed of 3000 is reached.
Later the command sequence JV=1500;BG changes the speed of the position reference to 1500 counts/sec.
0 0.02 0.04 0.06 0.08
0
1000
2000
3000
0 0.02 0.04 0.06 0.08
0
50
100
150
Time (sec)
Position reference
Counts/sec
AC
DC
JV=1500
JV=3000
Time (sec)
12.1.5.2 Example – On the fly mode switching
The example below is started by the command sequence
AC=100000;DC=200000;PA=100;BG;
A PTP motion starts, in which the Amplifier brings the reference position to the position target.
At the time of 0.055 sec, where in the picture below the plot of the position target terminates, the command
JV=-2000;BG; is entered. The Amplifier uses the AC acceleration to arrive at the desired speed.
If, at the time of the BG, the speed of the position reference were more negative than –2000, the Amplifier
would use the DC parameter instead of AC.