Elmo HARmonica, HARSFEN0602 software manual 138, Jogging

HARSFEN0602ElmoHARmonicaSoftwareManual							PRELIMINARYDRAFT
5000	DC
AC
0		AC
-5000				DC
Counts/sec				Time (Sec)
-10000
0	0.05	0.1	0.15	0.2	0.25	0.3	0.35
200
0			Position reference
-200		Target position
Counts						Time(sec)
-400
0	0.05	0.1	0.15	0.2	0.25	0.3	0.35

138

12.1.5Jogging

In a jogging motion, the motor is commanded to move in a fixed speed. The acceleration (or deceleration) to the desired speed are the AC and the DC parameters.

Jog motions may be initiated any time by using the JV command, not necessarily from a stationary state. The Jog mode decisions, made every position control cycle, are given in the flow chart below.

Start

JV > 0 and	Yes	Apply DC
Speed > JV?

JV< 0 and	Yes	Apply DC
Speed < JV?

Speed = JV? Yes Maintain JV

Apply AC

Figure 25 – Jog Decisions Flow Chart

All the parameters of the above flow chart, including AC,DC, JV, and the position target are updated by a BG command, or by its hardware equivalent (refer the IL[N] command).