Parker Hannifin
Jog Profiler
Each axis has a dedicated Jog Profiler which can, using a set of
motion profile values, control absolute, incremental, or continuous
motion for that axis. It can do this independently or in conjunction
with the other profilers (Cam, Gear, and Coordinated Moves).
NOTE:
Multiple axes may be commanded in a single jog
statement, such as
JOG ABS X500 Y100
. The motion is not
coordinated.
For any application, the controller is first configured for coordinated
motion. This does not exclude simultaneously using the other motion
profilers.
The Jog Profiler looks to the Coordinated Moves Profiler for its
configuration data (master, slave, and axis attachment statements).
For more information about making attachments, see
Attachments
.
The Jog Profiler computes motion based on axis target positions and
on the motion profile values (
JOG ACC
,
JOG DEC
,
JOG JRK
, and
JOG VEL
). The motion profile is scaled by the PPU (pulses per
programming unit) for each axis. All axes may start, accelerate, and
decelerate at different times.
NOTE:
The Jog Profiler typically uses the clock as its timebase.
NOTE:
The ACR controller uses the Jog Profiler for jogging and
homing routines. If the acceleration, deceleration, velocity,
and jerk values are set for jogging, those values are also
used for homing. Therefore, it is a good programming
practice to declare the motion profile at the beginning of
every jog subroutine. Doing so ensures the correct motion
values are used for a jogging or homing routine, regardless
how the program branches to a subroutine.
NOTE:
The Configuration Wizard contains a Jog/Home
Commissioning dialog. The dialog only allows the user to test
the setup of an axis—it does not produce jogging or homing
code.
66 Programmer’s Guide
