Parker Automation Gemini GV6K, Command Reference Manual

Page: 179 / 362

Command Descriptions 177
JOY
Joystick Mode Enable
Type
Joystick
Syntax
<a_><!>JOY<b>
Units
n/a
Range
b = 0 (disable) or 1 (enable)
Default
0
Response
JOY: *JOY0
See Also
ANIRNG, [ AS ], COMEXC, INFNC, JOYA, JOYAA, JOYAD, JOYADA,
JOYAXH, JOYCDB, JOYCTR, JOYEDB, JOYVH, JOYVL, JOYZ, TAS, TIN
Product Rev
GT6K 6.0
GV6K 6.0
The Gem6K drive supports joystick operation with digital inputs and analog inputs.
To Set Up Joystick Operation (refer also to the example code below):
1. Select the required digital inputs and analog inputs required for joystick operation. Connect the
joystick as instructed in the Hardware Installation Guide .
2. Assign the appropriate input functions to the digital inputs used for the joystick's operation:
•
Release Input:
INFNCi-M
•
Velocity Select Input:
INFNCi-O
3. (optional) Use the
ANIRNG
command to select the voltage range for the analog input you will use. The
default range is -10VDC to +10VDC (other options are 0 to +5V, -5 to +5V, and 0 to +10V).
4. Assign analog input, using:
•
JOYAXH
: Standard analog input-to-axis assignment.
5. Define the joystick motion parameters:
•
Max. Velocity when Velocity Select input switch is open/high (
JOYVH
command). If the Velocity
Select input is not used, joystick motion always uses the
JOYVH
velocity.
•
Max. Velocity when Velocity Select input switch is closed/low (
JOYVL
command).
•
Accel (
JOYA
command).
•
Accel for s-curve profiling (
JOYAA
command).
•
Decel (
JOYAD
command).
•
Decel for s-curve profiling (
JOYADA
command).
6. Define the usable voltage zone for your joystick:
(make sure you have first assigned the analog inputs – see step 4 above)
•
End Deadband (
JOYEDB
): Defines the voltage offset (from the -10V & +10V endpoints) at which
max. velocity occurs. Default is 0.1V, maxing voltage at -9.9V and +9.9V.
•
Center Voltage (
JOYCTR
or
JOYZ
): Defines the voltage when the joystick is at rest to be the zero-
velocity center. Default
JOYCTR
setting is 0V.
•
Center Deadband (
JOYCDB
): Defines the zero-velocity range on either side of the Center Voltage.
Default is 0.1V, setting the zero-velocity range at -0.1V to +0.1V.
7. To jog the axis:
a. In your program, enable Joystick Operation with the
JOY
command (Joystick Release input must
be closed in order to enable joystick mode). When the
JOY
command enables joystick mode,
program execution stops (assuming the Continuous Command Execution Mode is disabled with
the
COMEXCØ
command).
b. Move the load with the joystick.
c. When you are finished, open the Joystick Release input to disable joystick mode. This allows
program execution to resume with the next statement after the initial
JOY
command that started the
joystick mode.
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