Yaskawa LEGEND-MC - Manual (Page 350)

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LEGEND-MC User’s Manual
Position Control by Joystick
This system requires the position of the motor to be proportional to the joystick angle. Furthermore, the
ratio between the two positions must be programmable. For example, if the control ratio is 5:1, it implies
that when the joystick voltage is 5 Volts, corresponding to 4095 counts, the required motor position must
be 20475 counts. The variable V3 changes the position ratio.
Instruction Function
#A Label
JG0 Set motor in jog mode speed zero
BGX Start motion
#B Label
VIN=@AN[1] Read analog input
VEL=VIN*20000 Compute the desired velocity
JG VEL Change the jog speed
JP #B Repeat the process
EN End
Instruction Function
#A Label
V3=5 Initial position ratio
DP0 Define the starting position
JG0 Set motor in jog mode as zero
BGX Start
#B
V1=@AN[1] Read analog input
V2=V1*V3 Compute the desired position
V4=V2-_TPX-_TEX Find the following error
V5=V4*20 Compute a proportional speed
JG V5 Change the speed
JP #B Repeat the process
EN End