Independent Jogging; Command Summary - Jogging - Galil Motion Control DMC-1600 Series User Manual

VELOCITY
(COUNTS/SEC)
20000
15000
10000
5000
0
Figure 6.1 - Velocity Profiles of XYZ
Notes on fig 6.1: The X and Y axis have a 'trapezoidal' velocity profile, while the Z axis has a
'triangular' velocity profile. The X and Y axes accelerate to the specified speed, move at this
constant speed, and then decelerate such that the final position agrees with the command position,
PR. The Z axis accelerates, but before the specified speed is achieved, must begin deceleration
such that the axis will stop at the commanded position. All 3 axes have the same acceleration and
deceleration rate, hence, the slope of the rising and falling edges of all 3 velocity profiles are the
same.

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 a 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-1600 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,z,w
BG XYZW
76 • Chapter 6 Programming Motion
X axis velocity profile
20
40
DESCRIPTION
Specifies acceleration rate
Begins motion
Y axis velocity profile
Z axis velocity profile
80
60
TIME (ms)
100
DMC-1600