How do I change velocity on the fly during JOGGING?

The built in JOG function itself will not allow the JOGVL or JOGVH commands to be changed while in motion. Only when not in motion (jog input not active and motor has come to a stop).

So no matter what you do in their program it won't change the jog velocity on the fly. It does not have that functionality. The only thing it offers is two pre-defined jog velocities (JOGVL and JOGVH commands) and another input that can be defined as a JOG VELOCITY SELECT input which would change from one to the other. but even this will not change the velocity from low to high while the motor is in motion.

So, the only option for the customer is to create their own 'jog' routine using mode continuous type motion (MC command) and a programming loop that checks for the particular general purpose inputs (not specifically defined as jog inputs) and first sets the D+ or D- command for direction and then does a GO1 command and then continues scanning. They will also need logic in there to see when the input has be removed and do an S1 command (and may also need to use the COMEXS command) to stop the move in progress before changing the D command and another GO command if the other input then goes active.

Inside of this control loop they can also scan the other digital inputs, read the pattern into a binary variable (VARB commands and IN command), do some math to determine a velocity from it and thus set the V command and execute another GO command if appropriate in their control loop. During MC type motion with the COMEXC1 setting (which allows command processing to continue even during a move) you can change the velocity on the fly. The new velocity take affect by doing the secondary GO command (even though its already in motion at the time).

The basic idea (not complete, the customer will likely have to add and modify as needed). If they have questions, they should refer to the command reference guide for all of the commands listed here and those referenced under the 'See Also' section for each command to see related commands that they may also need/choose to implement.

DEL GMAN

DEF GMAN

COMEXC1

COMEXS1

L

IF(IN.17=B1 AND  IN.18=B0)         ;"JOG" POSITIVE - TRG-A

D+

V(VAR1)

GO1

NIF

IF(IN.18=B1 AND  IN.17=B0)              ;"JOG" NEGATIVE - TRG-B

D-

V(VAR1)

GO1

NIF

IF (IN.17=B0 AND IN.18=B0)            ;STOP THE JOG

S1

NIF

VARB1=IN          ;READ DIGITAL INPUTS AS A BINARY NUMBER

VARB1=VARB1 & B111111110000000000     ;ONLY USE THE FIRST 8 INPUTS

VAR1=VCVT(VARB1)                  ;CONVERT TO DECIMAL VALUE

VAR1=VAR1*2.5          ;SCALE THE VELOCITY AS NEEDED - TBD BY CUSTOMER

LN