Elmo HARSFEN0602, HARmonica 139, Example Simple jogging, Example On the fly mode switching

HARSFEN0602ElmoHARmonicaSoftwareManual PRELIMINARYDRAFT

Jog motions can continue forever. The position reference jumps when it arrives the modulo boundary (+/-230for XM=0 or +/- XM/2) but the speed is kept constant

The parameters of Jog motion are summarized in the table below.

Parameter	Action
AC	Acceleration in counts/ sec2
DC	Deceleration in counts/ sec2
SF	Smooth factor, in milliseconds
JV	Jog velocity

The JV command has double role. It specifies that the next motion will be a Jogging, and also to what speed the jog will target.

12.1.5.1Example – Simple jogging

The example is started by the command sequence JV=3000;BG

The position reference starts to accelerate until the jog speed of 3000 is reached.

Later the command sequence JV=1500;BG changes the speed of the position reference to 1500 counts/sec.

139

3000			JV=3000
				DC
2000		AC
	Counts/sec
1000					JV=1500
0			Time (sec)
0	0.02		0.04	0.06	0.08
150
100	Position reference

50

0		Time (sec)
0	0.02	0.04	0.06	0.08

12.1.5.2Example – On the fly mode switching

The example below is started by the command sequence AC=100000;DC=200000;PA=100;BG;

A PTP motion starts, in which the Amplifier brings the reference position to the position target.

At the time of 0.055 sec, where in the picture below the plot of the position target terminates, the command JV=-2000;BG; is entered. The Amplifier uses the AC acceleration to arrive at the desired speed.

If, at the time of the BG, the speed of the position reference were more negative than –2000, the Amplifier would use the DC parameter instead of AC.