Independent Jogging; Command Summary - Jogging; Operand Summary - Independent Axis - Galil Motion Control DMC-14 5 Series 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 DMC-
14XX 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

Command
AC x,y
BG XY
DC x,y
IP x,y
IT x,y
JG +/-x,y
ST XY
Parameters can be set with individual axis specifiers such as JGY=2000 (set jog speed for Y axis to
2000) or ACXY=400000 (set acceleration for X and Y axes to 400000).

Operand Summary - Independent Axis

Operand
_ACx
_DCx
_SPx
_TVx
Example - Jog in X only
Jog X motor at 50000 count/s. After X motor is at its jog speed, begin jogging Z in reverse direction at
25000 count/s.
Instruction
#A
AC 20000,20000
DC 20000,20000
JG 50000,-25000
DMC-14x5/6
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Description
Specifies acceleration rate
Begins motion
Specifies deceleration rate
Increments position instantly
Time constant for independent motion smoothing
Specifies jog speed and direction
Stops motion
Description
Return acceleration rate for the axis specified by 'x'
Return deceleration rate for the axis specified by 'x'
Returns the jog speed for the axis specified by 'x'
Returns the actual velocity of the axis specified by 'x' (averaged over .25 sec)
Interpretation
Label
Specify X,Y acceleration of 20000 cts / sec
Specify X,Y deceleration of 20000 cts / sec
Specify jog speed and direction for X and Y axis
Chapter 6 Programming Motion 59
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