ElmoMC SimplIQ Software Manual - Manual (Page 149)

SimplIQ Software Manual The Position Reference Generator
MAN-SIMSW (Ver. 1.4)
11-8
11.1.5 Jog
In a jogging motion, the motor receives a command to move at a fixed speed. The AC and
DC parameters indicate the acceleration or deceleration to the desire speed.
Jog motions may be initiated any time by using the JV command, and not necessarily
from a stationary state. The jog mode decisions, made every position control cycle, are
given in the following flowchart.
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 11-3: Jog Decisions Flowchart
All parameters in the flowchart — including AC, DC, JV and the position target — are
updated by a BG command or by its hardware equivalent (refer to the IL[N] command in
the
SimplIQ Command Reference Manual).
Jog motions can continue indefinitely. The position reference jumps by XM[2] - XM[1]
when it reaches the modulo boundary, but the speed remains constant. The jog motion
parameters are summarized in the following table:
Parameter Action
AC Acceleration, in counts/second 2
DC Deceleration, in counts/second 2
SF Smooth factor, in milliseconds
JV Jog velocity
Table 11-6: Jog Motion Parameters
The JV command specifies that the next motion will be a jog, and also what speed the jog
will target.