YASKAWA Sigma-7 SGD7S Series

8.7.2 Program Jogging
You can use program jogging to perform continuous operation with a preset operation
pattern, travel distance, movement speed, acceleration/deceleration time, waiting time,
and number of movements.
You can use this operation when you set up the system in the same way as for normal
jogging to move the Servomotor without connecting it to the host controller in order to
check Servomotor operation and execute simple positioning operations.
Confirm the following conditions before you perform program jogging.
n The parameters must not be write prohibited.
n The main circuit power supply must be ON.
n There must be no alarms.
n There must be no hard wire base block (HWBB).
n The servo must be OFF.
n The range of machine motion and the safe movement speed of your machine must be
considered when you set the travel distance and movement speed.
n There must be no overtravel.
n You can use the functions that are applicable to position control. However, parame-
ters related to motion control through PROFINET communications are disabled.
n The overtravel function is enabled.
n The software limits are disabled.
An example of a program jogging operation pattern is given below. In this example, the
Servomotor direction is set to Pn000 = n.0 (Use CCW as the forward direction).
Setting of
Pn530
Setting Operation Pattern
n.0
(Waiting time → For-
ward travel distance)
× Number of move-
ments
Number of movements (Pn536)
Ÿ
Ÿ
Movement speed
Rotary Servomotor:
Pn533
Linear Servomotor:
Pn585
Speed 0
Waiting time
(Pn535)
Acceleration/-
deceleration
time (Pn534)
Waiting time
(Pn535)
Waiting time
(Pn535)
Travel
distance
(Pn531)
Travel
distance
(Pn531)
Travel
distance
(Pn531)
n.1
(Waiting time →
Reverse by travel dis-
tance) × Number of
movements
Ÿ
Ÿ
Speed 0
Movement speed
Rotary Servomotor:
Pn533
Linear Servomotor:
Pn585
Waiting time
(Pn535)
Acceleration/-
deceleration
time (Pn534)
Waiting time
(Pn535)
Waiting time
(Pn535)
Travel
distance
(Pn531)
Travel
distance
(Pn531)
Travel
distance
(Pn531)
Number of movements (Pn536)
Preparations
Additional Information
Program Jogging Opera-
tion Pattern
Sigma-7 Series SERVOPACKs
Trial Operation and Actual Operation
Convenient Function to Use during Trial Operation > Program Jogging
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