Inovance H3U Series - AXISJOGA Axis Jog

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4
4 Instructions4.9.5 Communication Positioning
AXISJOGA: Axis jog
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Overview
The AXISJOGA instruction implements axis jog based on CANlink.
AXISJOGA S1 S2 S3 S4 S5
Axis jog Applicable model:
H3U
S1
Axis
number
Servo station number, in the range 1 to 16
16-bit instruction (11
steps)
AXISJOGA:
Continuous execution
S2 Speed
Jog speed (which occupies four elements and cannot be the
same for different instructions)
S3 Forward jog Jog in the forward direction
S4 Reverse jog Jog in the reverse direction
S5 Error ag Instruction error ag
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Operands
Operand
Bit Element Word Element
System·User System·User Bit Designation Indexed Address
Constant
Real
Number
S1
X Y M T C S SM D R T C SD KnX KnY KnM KnS KnSM V Z Modication K H E
S2
X Y M T C S SM D R T C SD KnX KnY KnM KnS KnSM V Z Modication K H E
S3
X Y M T C S SM D R T C SD KnX KnY KnM KnS KnSM V Z Modication K H E
S4
X Y M T C S SM D R T C SD KnX KnY KnM KnS KnSM V Z Modication K H E
S5
X Y M T C S SM D R T C SD KnX KnY KnM KnS KnSM V Z Modication K H E
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Function
① Axis number: Axis number of the servo that requires jog control.
② Speed: It is in integer or oating-point number format and stored in a D or R element. For details about
the units and conversion, see
“AXISDRVA: Absolute axis positioning” on Page 288.
This operand occupies
four consecutive word elements, two for the parameter and the other for the instruction state machine.
If the speed is set to 0, the default value 100 is written.
③ Forward jog: It is stored in an M or S element. When the instruction is enabled and this bit is ON, the
servo starts jog in the forward direction. When this bit is changed to OFF, the servo stops jog in the
forward direction.
④ Reverse jog: It is stored in an M or S element. When the instruction is enabled and this bit is ON, the
servo starts jog in the reverse direction. When this bit is changed to OFF, the servo stops jog in the
reverse direction.
⑤ Error ag: It is set when an error occurs in the following conditions (the error ag of the AXISJOG
instruction is stored in S4+1):
• The driver is not enabled. (The AXISENAB instruction is disabled.)
• The speed or position is not written successfully.
• The driver generates an alarm.
• Instructions conict with each other. (The positioning, jog, positioning stop, and emergency stop instructions
cannot be triggered at the same time.)
• The complete ag and error ag are reset after the enable signal breaks off.
Note 1: No action is taken when forward jog and reverse jog are both enabled.
Note 2: The speed is written only once when the instruction is enabled.