Table of Contents
Advertisement
JOY
Joystick Mode Enable
Type
Joystick
Syntax
<a_><!>JOY<b>
Units
n/a
Range
b = 0 (disable) or 1 (enable)
Default
0
Response
JOY:
*JOY0
See Also
ANIRNG, [ AS ], COMEXC, INFNC, JOYA, JOYAA, JOYAD, JOYADA,
JOYAXH, JOYCDB, JOYCTR, JOYEDB, JOYVH, JOYVL, JOYZ, TAS, TIN
The Gem6K drive supports joystick operation with digital inputs and analog inputs.
To Set Up Joystick Operation (refer also to the example code below):
1. Select the required digital inputs and analog inputs required for joystick operation. Connect the
joystick as instructed in the Hardware Installation Guide.
2. Assign the appropriate input functions to the digital inputs used for the joystick's operation:
• Release Input:
INFNCi-M
• Velocity Select Input:
3. (optional) Use the
ANIRNG
default range is -10VDC to +10VDC (other options are 0 to +5V, -5 to +5V, and 0 to +10V).
4. Assign analog input, using:
•
: Standard analog input-to-axis assignment.
JOYAXH
5. Define the joystick motion parameters:
• Max. Velocity when Velocity Select input switch is open/high (
Select input is not used, joystick motion always uses the
• Max. Velocity when Velocity Select input switch is closed/low (
• Accel (
command).
JOYA
• Accel for s-curve profiling (
• Decel (
command).
JOYAD
• Decel for s-curve profiling (
6. Define the usable voltage zone for your joystick:
(make sure you have first assigned the analog inputs – see step 4 above)
• End Deadband (
JOYEDB
max. velocity occurs. Default is 0.1V, maxing voltage at -9.9V and +9.9V.
• Center Voltage (
JOYCTR
velocity center. Default
• Center Deadband (
JOYCDB
Default is 0.1V, setting the zero-velocity range at -0.1V to +0.1V.
7. To jog the axis:
a. In your program, enable Joystick Operation with the
be closed in order to enable joystick mode). When the
program execution stops (assuming the Continuous Command Execution Mode is disabled with
the
command).
COMEXCØ
b. Move the load with the joystick.
c. When you are finished, open the Joystick Release input to disable joystick mode. This allows
program execution to resume with the next statement after the initial
joystick mode.
INFNCi-O
command to select the voltage range for the analog input you will use. The
command).
JOYAA
command).
JOYADA
): Defines the voltage offset (from the -10V & +10V endpoints) at which
or
): Defines the voltage when the joystick is at rest to be the zero-
JOYZ
setting is 0V.
JOYCTR
): Defines the zero-velocity range on either side of the Center Voltage.
www.comoso.com
Product
GT6K
GV6K
command). If the Velocity
JOYVH
velocity.
JOYVH
command).
JOYVL
command (Joystick Release input must
JOY
command enables joystick mode,
JOY
command that started the
JOY
Command Descriptions
Rev
6.0
6.0
177
Advertisement
Table of Contents
