Yaskawa LEGEND-MC - Manual (Page 273)

263
LEGEND-MC User’s Manual
Independent Jogging
The jog mode of motion is very flexible because speed, direction and acceleration can be changed during
motion. The user specifies the jog speed (JG), acceleration (AC), and the deceleration (DC) rate for each
axis. The direction of motion is specified by the sign of the JG parameters. When the begin command is
given (BG), the motor accelerates up to speed and continues to jog at that speed until a new speed or stop
(ST) command is issued. If the jog speed is changed during motion, the controller will make an
accelerated (or decelerated) change to the new speed.
An instant change to the motor position can be made with the use of the IP command. Upon receiving
this command, the controller commands the motor to a position which is equal to the specified increment
plus the current position. This command is useful when trying to synchronize the position of two motors
while they are moving.
Note that the controller operates as a closed-loop position controller while in the jog mode. The
LEGEND-MC converts the velocity profile into a position trajectory and a new position target is
generated every sample period. This method of control results in precise speed regulation with phase lock
accuracy.
Command Summary - Jogging
Parameters can be set with individual axis specifiers such as JGY=2000 (set jog speed for Y axis to 2000)
or AC 400000, 400000 (set acceleration for X and Y axes to 400000).
Command Description
AC x,y Specifies acceleration rate
BG XY Begins motion
DC x,y Specifies deceleration rate
IP x,y Increments position instantly
IT x,y Time constant for independent motion smoothing
JG +/-x,y Specifies jog speed and direction
ST XY Stops motion