Jogs

In this section, we will show how to work with the Jogs. The Jogs are predefined workspaces that are mainly thought to be used to perform movements and test the system once it has been properly tuned. In some cases, depending on the user’s preferences, it can be used to perform fine-tuning operations as well.

Basic composition of a Jog and how to use it

As previously introduced, the Jogs are workspaces that are mainly used to test movement and trajectories of the axes connected to the software and it checks that the performance is properly tuned under the load conditions that the system might have. As a workspace, it is formed of the following widgets:

• Display (blue box below) → used to display in real-time the selected variables in a numerical way

• Control (green box below) → used to set the desired parameters during the testing

• Scope (orange box below) → used to represent in a graphical way the parameters that the user selects

Voltage Jog

For more information on the voltage mode, please check the reference manual: Voltage mode.

The Voltage Jog is a predefined workspace with the following characteristics:

• Display

  • Bus voltage value

  • Primary temperature value

  • Operation mode

• Control

  • Operation mode

  • Voltage quadrature setpoint

  • Voltage direct setpoint

• Scope (1 chart)

  • Voltage quadrature setpoint

  • Actual velocity

How to use the Voltage Jog

• Enable the motor and dynamically change the voltage quadrature/direct set-points to drive the axis as you wish

• Add/Remove parameters to the Display/Control widgets for additional testing/reporting possibilities

• Add additional Scope charts with additional registers to plot during testing

Voltage mode common uses

Besides when an application actually works in voltage mode, this mode of operation usually has the following main purposes:

• Manual calibration of feedback sensors

• Validation of the phasing test with the commutation sensor

Current Jog

For more information on the current modes, please check the reference manual: Current modes (CSC, C, CA).

The Current Jog is a predefined workspace with the following characteristics:

• Display

  • Bus voltage value

  • Primary temperature value

  • Operation mode

• Control

  • Targets

    • Operation mode

    • Control word

    • Current quadrature setpoint

    • Current direct setpoint

  • Control loop

    • Current quadrature loop Kp

    • Current quadrature loop Ki

    • Current quadrature loop Kr

    • Current quadrature loop max. output

    • Current quadrature loop min. output

    • Current direct loop Kp

    • Current direct loop Ki

    • Current direct loop Kr

    • Current direct max. output

    • Current direct loop min. output

  • Limits

    • Max. current

• Scope (1 chart)

  • Current quadrature demand value

  • Current quadrature actual value

  • Current direct demand value

  • Current direct actual value

How to use the Current Jog

• Enable the motor and dynamically change the current quadrature/direct set-points to drive the axis as you wish

• Add/Remove parameters to the Display/Control widgets for additional testing/reporting possibilities

• Add additional Scope charts with additional registers to plot during testing

• Perform fine-tuning operations of the PI loops for both current quadrature/direct

Velocity Jog

For more information on the velocity modes, please check the reference manual: Velocity modes (CSV, PV, V).

The Velocity Jog is a predefined workspace with the following characteristics:

• Display

  • Bus voltage value

  • Primary temperature value

  • Operation mode

• Control

  • Targets

    • Operation mode

    • Control word

    • Velocity set-point

  • Control loop

    • Velocity loop Kp

    • Velocity loop Ki

    • Velocity loop Kd

    • Velocity loop Kd filter

    • Velocity loop Kffv

    • Velocity loop max. output

    • Velocity loop min. output

  • Limits

    • Max. velocity

  • Profiler

    • Profiler max. acceleration

    • Profiler max. deceleration

    • Profiler max. velocity

• Scope (1 chart)

  • Velocity demand value

  • Velocity set-point

  • Actual velocity

How to use the Velocity Jog

• Enable the motor and dynamically change the velocity set-points to drive the axis as you wish. Do not forget to click on the "Target Latch" button or otherwise, the set-point will not be interpreted by the drive.

• Add/Remove parameters to the Display/Control widgets for additional testing/reporting possibilities

• Add additional Scope charts with additional registers to plot during testing

• Perform fine-tuning operations on the PID controller velocity loop

Position Jog

For more information on the position modes, please check the reference manual: Position modes (CSP, PP, IP, P).

The Position Jog is a predefined workspace with the following characteristics:

• Display

  • Bus voltage value

  • Primary temperature value

  • Operation mode

• Control

  • Targets

    • Operation mode

    • Control word

    • Position set-point

  • Control loop

    • Position loop Kp

    • Position loop Ki

    • Position loop Kd

    • Position loop Kd filter

    • Position loop Kffa

    • Position loop max. output

    • Position loop min. output

  • Profiler

    • Profiler max. acceleration

    • Profiler max. deceleration

    • Profiler max. velocity

  • Limits

    • Max. position

    • Min. Position

• Scope (1 chart)

  • Position demand value

  • Position set-point

  • Actual position

How to use the Position Jog

• Enable the motor and dynamically change position set-points to drive the axis as you wish. Do not forget to click on the "Target Latch" button or otherwise, the set-point will not be interpreted by the drive.

• Add/Remove parameters to the Display/Control widgets for additional testing/reporting possibilities

• Add additional Scope charts with additional registers to plot during testing

• Perform fine-tuning operations on the PID controller velocity loop

Position tracking error

If this is the first time that you try to move the motor in position mode (any type), you will most likely get a "Position tracking error" fault right after you do "Target latch" your first position set-point. Do not panic, this is completely normal. What is happening is that the drive is simply applying a protection based on the position following error window/timeout parameters.

In order to overcome this, you can do either one of the following:

• Set the position following error option code register (key 0x0617) to 1 (Do nothing) in order to overwrite this protection so that it does not apply anymore

• Increase the position following error window/timeout values to larger values so that the tolerance interval is large enough to not trigger the fault

• Set position following error timeout to 0

For more on the following error concept, please refer to: Position modes (CSP, PP, IP, P).

Homing Jog

For more information on the homing mode, please check the reference manual: Homing.

How to design the Jog that works for you

After testing MotionLab3 for a while with its different Jogs and Tune window you might find yourself constantly adding registers to the Display/Control widgets and adding or modifying the Scope in order to plot the exact data that you want in the way that you want.

The jogs are a starting point for you need, and it is expected to be modified, but once you’re workspace fits the needs of your job remember to save it to a file so that you can resume with the work latter.

An example of a custom workspace for an application could be the following:

The possibilities are endless so feel free to create as many workspaces as you might need according to all the testing that you might want to do in your system.