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1.2. ZERO CYCLE
When started, the control unit does not know the real position of the controlled axis; it happens indepen-
dently of the used position transducer (incremental or absolute encoder). The real position can be known
only at the end of the zero cycle. The zero cycle can be performed with different methods according to the
used transducer type; such methods are described in the following paragraphs.
The specific parameter controlling the zero cycle is the following:
name: zeroSearch ipa: 1206
The control initialization status can be detected by the following parameter:
name: zeroFound ipa: 1226
1.3. JOG COMMANDS
The Jog+ command moves the axis in a positive direction.
The Jog- command moves the axis in a negative direction.
The command is active on the Positive level.
The axis stops in two conditions:
1. When the Jog command is disabled.
2. When it reaches the maximum limit switch, for the Jog+ command, or when it reaches the minimum
limit switch, for the Jog- command. Such a condition is valid only after the zero cycle has been performed,
otherwise the axis goes on without end.
The axis speed profile can be of two types: with a normal or an S-shaped acceleration ramp. The profile is
selected via the EnableRampS (ipa 1306) parameter, whose values are the following:
•
0 It enables the speed profile with a normal ramp.
•
1 It enables the speed profile with an S-shaped ramp.
The speed, acceleration and jerk values performing the speed profile are stated via the following parameters:
•
Speed
•
Acceleration
•
Jerk
The specific parameter controlling Jog+ is the following:
name: jogFwd
The specific parameter controlling Jog- is the following:
name: jogRev
1.4. IncrJog Commands
The IncrJog+ command moves the axis in the positive direction of the specified delta space.
The IncrJog- command moves the axis in the negative direction of the specified delta space.
These commands are active on the Positive level.
8
GEFRAN
name: JogSpeed
name: JogAccel
name: JogJerk
ipa: 1209
ipa: 1210
—————— Instruction manual ——————
ipa: 1019
ipa: 1002
ipa: 1092 (not used with the trapezoidal profile)
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