Single-Axis Motion 06/2005 Danaher Motion
For example:
ConveyorAxis.Acc = 100
Jog ConveyorAxis 1000 ACC = 10
Even though the acceleration rate of the conveyor axis is specified at 100 in
the first line, JOG accelerates at 10 (the override value). Motion commands
that do not specify an override acceleration rate accelerate at the permanent
value.
Override values are used extensively in motion commands. The values that
can be overridden are specified below as well as in the SERVOSTAR
®
MC
Reference Manual.
4.1.4. Acceleration Profile
The single-axis motion commands, MOVE and JOG, produce acceleration
curves that are limited by:
ACCELERATION (ACC)
DECELERATION (DEC)
SMOOTHFACTOR (SMOOTH)
Limit ACCELERATION and DECELERATION to less than the acceleration
capabilities of the motor and load. SMOOTH helps limit or reduce
mechanical wear on the machine by smoothing motion.
There are two types of acceleration profiles – sinus-curve profile and
trapezoidal profile. In the sinus profile the acceleration is smoothly increased
while in the trapezoidal profile, the acceleration is increases in one sample.
Setting the acceleration increasing smoothness is done using
SMOOTHFACTOR.
4.1.5. Jog
When you want to command the motor to move at a constant velocity
independent of the current position, use JOG. Velocity can be negative to
produce motion in the reverse direction. For example:
Jog ConveyorAxis 2000
produces this profile:
2000
rpm
Velocity
Command
0
Accel
Cruise
Time
You can optionally limit the amount of time JOG runs using TIMEJOG.
TIMEJOG must be placed on the same line with JOG. TIMEJOG is
specified in milliseconds and includes acceleration time. Deceleration starts
when the time expires. When TIMEJOG is -1, JOG continues indefinitely.
TIMEJOG defaults to -1. For example:
Jog ConveyorAxis 2000 TimeJog = 1000
produces the profile below.
88 Rev E M-SS-005-03l
