Yaskawa SMC–4000 - Manual (Page 278)

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SMC–4000 User 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
JG (Jog) , AC (Acceleration) , and DC (Deceleration) commands for each
axis. The direction of motion is specified by the sign of the JG parameters. When the BG (Begin)
command is given, the motor accelerates up to speed and continues to jog at that speed until a new speed
or
ST (Stop) 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 (Increment Position) 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
SMC–4000 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