HJ set group jerk
IMM PGM MIP
USAGE ♦ ♦ ♦
SYNTAX xxHJnn or xxHJ?
PARAMETERS
Description xx [ int ] - group number
nn [ float ] - vector jerk value
Range xx - 1 to MAX GROUPS
nn - 0 to 2e9
Units xx - none
nn - predefined units / second
3
Defaults xx missing: error 13, GROUP NUMBER MISSING
out of range: error 14, GROUP NUMBER OUT OF RANGE
not assigned: error 15, GROUP NUMBER NOT ASSIGNED
floating point: truncated
nn missing: error 7, PARAMETER OUT OF RANGE
negative: error 22, GROUP PARAMETER OUT OF RANGE
out of range: error 22, GROUP PARAMETER OUT OF RANGE
DESCRIPTION
This command is used to set the vectorial jerk value for a group. This value will be used
during coordinated motion of axes assigned to the group. It will override any original
jerk values specified for individual axes using JK command. The axes’ original values
will be restored when the group to which they have been assigned is deleted.
If vectorial jerk is set to zero, a trapezoid velocity profile is employed during motion.
Otherwise, an S-curve velocity profile is employed.
This command takes effect immediately. It can be executed when controller is idling or
motion is in progress or inside a program.
Note:
Avoid changing jerk during acceleration or deceleration phases of a move. For better
predictable results, change jerk only when all the axes assigned to this group are not in
motion.
RETURNS If “?” sign takes the place of nn value, this command reports the current setting.
REL. COMMANDS HN - create a new group
HV - set vectorial velocity for a group
HA - set vectorial acceleration for a group
HD - set vectorial deceleration for a group
HK - set vectorial e-stop jerk for a group
EXAMPLE 1HN1,2 | create a new group (#1) with physical axes 1 and 2
1HJ50 | set vectorial jerk of group #1 to 50 units/second
3
1HJ? | query vectorial deceleration of group #1
50 | controller returns a value of 50 units/second
3
3-72 Section 3 – Remote Mode
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