Panasonic GM1 Series - Connecting the GM1 Controller and the GM Programmer

PG_Jog parameter
Parameter Set value Setting range
Target speed: Velocity
[u/s]
10000 0 to 4000000
Acceleration /
Deceleration: AccDec
[u/s
2
]
10000
1 or more
(Note 1)
(Note 1) Set each acceleration / deceleration time to 32767 ms or less.
■
Program (ST)
For forward rotation, set the JogForward input parameter and, for reverse rotation, set the
JogBackward input parameter.
The following shows a program to switch from forward rotation to reverse rotation.
Declaration section
PROGRAM sample
VAR
Process :UDINT := 0;
PG_Power_0: PG_Power;
PG_Jog_0: PG_Jog;
END_VAR
Implementation section
CASE Process OF
0://Servo On
PG_Power_0(
UnitID:=1,
AxisNo:=1,
Enable:=TRUE,
bRegulatorOn:=TRUE);
IF PG_Power_0.Status = TRUE THEN
Process := 1;
END_IF
1://Execute the PG_Jog with JogForward
PG_Jog_0(
UnitID:=1,
AxisNo:=1,
JogForward:=TRUE,
JogBackward:=FALSE,
Velocity:=10000,
AccDec:=10000);
2://Changing the variable Process to 2 stop the jog
PG_Jog_0(
UnitID:=1,
AxisNo:=1,
JogForward:=FALSE,
JogBackward:=FALSE);
3://Changing the variable Process to 3 reverses the jog
PG_Jog_0(
UnitID:=1,
AxisNo:=1,
8.1 Sample Program
WUME-GM1PG-01 8-3