teremock Posted March 18 Share Posted March 18 (edited) Hello I implement Forward and Inverse kinematic for axis Z. Axis Z contains several motors. All works good with CS commands like cpx linear Z12.34 F10; But Now I need to JOG Z axis. Something like &Zj+ Is that possible or is there a some advice? Roman Edited March 18 by teremock Quote Link to comment Share on other sites More sharing options...
robodavo Posted March 19 Share Posted March 19 There is no way to jog a virtual axis that does not have a linear relationship to a motor ie: arm kinematics the only way to simulate this is to duplicate your kinematic code in a real-time plc which sends updated jog commands continually. Another way is to send a coordinated Z move in a motion program and do a coordinated stop (\ or LH1\ in a plc) when you want to stop the jog. Adjust acceleration rates and feed hold slew rates to simulate the jog move required. Quote Link to comment Share on other sites More sharing options...
AAnikstein Posted March 25 Share Posted March 25 Users that want functionality like this will often make a motion program that uses a series of small moves which blend together--something like: OPEN PROG MotorJog WHILE(JogFlag == 1) { LINEAR INC F10 F0.1 } CLOSE They would then need to run the motion program in the Coordinate System, then set the flag. Quote Link to comment Share on other sites More sharing options...
teremock Posted May 6 Author Share Posted May 6 Yes, you are right. I find sample project with following code: OPEN PROG 100 DO { INC LINEAR TA 1 TS 0 f(JogZSpeed) Z(IncDistZ) } WHILE(1) CLOSE and PLC script: .... IF(JogZPlusIn) { IncDistZ = IncDist START 2:100 WHILE(JogZPlusIn){} ABORT 2 WHILE(Coord[2].ProgActive || Coord[2].DesVelZero == 0){} pmatch } IF(JogZMinusIn) { IncDistZ =-IncDist START 2:100 WHILE(JogZMinusIn){} ABORT 2 WHILE(Coord[2].ProgActive || Coord[2].DesVelZero == 0){} pmatch } ...... Thank you. Quote Link to comment Share on other sites More sharing options...
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