TN - IDE - Online Motor Jogging with Power PMAC

Modified on Tue, 30 Sep at 11:58 AM

Summary/Issue Description

This technical note explains how to perform online motor jogging using Power PMAC through the IDE terminal window. Motor jogging is a fundamental motion control feature that allows simple closed-loop motor movement, making it ideal for point-to-point positioning or continuous movement in a specified direction.

Root Cause

Users may be unfamiliar with how to correctly configure and execute online jog commands within the Power PMAC IDE environment. Misunderstanding the structure and syntax of jog commands can lead to improper motor control.

Solution

Motor jogging is the simplest form of a closed-loop motor move. It is commonly used for:

Basic positioning between two points
Indefinite motion in a given direction

Jog moves use trapezoidal velocity time profiles, consisting of three phases: Acceleration, Constant Velocity, and Deceleration.

These jog profiles are configured using three main motor structure elements:

Motor[x].JogSpeed – Specifies the magnitude of the constant velocity.

Motor[x].JogTa and Motor[x].JogTs– Specifies the shape of the acceleration and deceleration.

To set the desired constant jog speed, update the value of Motor[x].JogSpeed accordingly.

Motor jogging can be performed directly through the IDE terminal window using online jog commands.

Online Jog commands syntax - All jog commands will close the loop on the motor before executing.

The most common jog commands:

Multiple motors can be jogged at once. You can jog multiple motors simultaneously by specifying them in a list using: Commas (,), Double dots (..),Or a combination of both

Example:

#1,2..4J+

#1,2,3,4J-

Additionally, the user can jog the motor, and the movement will be indicated on the Motor Jog block by the rotation of the circular icon.

The user can Servo ON and Servo OFF the axis. These commands are equivalent to “# Jog/” and “# Kill”.