Parker Hannifin G2 manual Operation Functions, Jog Move

5.2Operation Functions

Idle status

Operating status

Controller interface position command follow-up Jog move

Test operation Auto-tuning operation Homing move Mechanical setting mode

The status in which no operation is performed is called the idle status; jog moves can be performed in this status. If no jog move is being performed in the idle status, the driver follows the position command from the controller interface.

This driver is equipped with the operation functions listed below. Use them as needed.

The start, end, and stop actions of these operations can be controlled from either the controller interface side or the RS232C interface side. Refer to the related chapters (Chapter 6, "Controller Interface" and Chapter 7, "RS232C Interface") for operation methods.

The methods used to end each operation can be classified into three categories: the self-end type that ends automatically when the operation is complete, the non-self-end type that cannot end the action by itself, and the non-end type that cannot be stopped once started. An appropriate end or stop action must be performed for each type.

Operation	Name	Comment	Ending type
No.
0	Test operation	Generates a 2.5Hz square wave position command signal for	Non-self-end
		adjustment of the control part.
1	Auto-tuning	Makes the rotor oscillate, measures load inertia and load mass, and	Self-end
	operation	sets the parameters for the control part automatically.
2	(Reserved)
		Finds the home position using the hardware over-travel signal,
3	Homing move	homing sensor, and motor Zero signal to establish the coordinate	Self-end
		system.
4 to 14	(Reserved)
15	Mechanical	Special mode for changing mechanical setting parameters.	Non-end
	setting mode

5.2.1 Jog Move

The rotor can be moved in the positive (+) or negative (-) direction by issuing a jog move command while in idle	5
status.

There are three types of jog move commands: (+) direction move, (-) direction move, and stop. Refer to the sections about the RS232C interface and PLC interface for how to issue a command.

The move can only be trapezoidal but it is possible to set the acceleration and deceleration profile. In addition, the velocity override does function in real time. The velocity in the jog move is determined by the value in the #10 Jog Velocity parameter.

If operation is started while the jog move is in progress, the operation is executed as soon as the jog move stops. The settling wait function is not performed at the end of the jog move.

[Related parameter]

#10 Jog velocity

5-3