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API Instruction Operand Description
2703 D JOG S1，S2，S3，D1，D2 JOG output
Device X Y M S T C HC D FR SM SR E K 16# “$” F
S1
S2
S3
D1
D2
Data type BOOL WORD DWORD LWORD UINT INT DINT LINT REAL LREAL TMR CNT STRING
S1
S2
S3
D1
D2
Pulse Instruction 16-bit instruction 32-bit instruction
－ AS AS
Symbol
S1 ： Ramp-up time
S2 ： Target output frequency
S3 ： Ramp-down time
D1 ： Pulse output device
D2 ： Auxiliary output device
Explanation
1. This instruction specifies the JOG output (S1 , S2 , S3) for the devices specified in D1 and D2. S1 is the ramp-up time with the unit of 10 ms. For Example , the value 10 means
the ramp-up time is 100 ms. After the instruction is executed, the output frequency can be divided by ten, and it speeds up once every 10ms. It reaches the JOG target
frequency specified by S2 at the ramp-up time S1.
2. When the instruction is disabled, its output frequency ramps down once every 10ms based on the ramp-down time in S3. The output does not stop until reaching the ramp-
down time. If you set the ramp-down time to 0, the output stops immediately.
3. The range of the ramp-up time S1 and the ramp-down time S3 is between 0–3000 (0–30 seconds). If the setting value is out of range, the PLC processes it as the minimum or
maximum output value. The ramp-up time and ramp-down time are affected by the scan time. If you require accurate ramp-up or ramp-down time, it is recommended that you
use an output instruction with specified ramp up or ramp down time such as the DDRVI instruction (API 2706).
4. The range of the target output frequency S2 is between -200 kHz to 200 kHz. If the setting value is out of the range, the PLC processes it as the minimum or maximum output
value. A positive number for the output frequency indicates forward output. A negative number for the output frequency indicates reverse output.
5. D1 allows only Y0.0–Y0.11 for the output point. For the auxiliary output point specified by D2, refer to the output points in the following table. If you choose other output points
or the M device, the value in SR indicating the output mode is invalid and the Pulse+direction mode is valid by default. D2 is a direction output point.
D1 selects the even output point number.
Output point for D1 Y0.0 Y0.2 Y0.4 Y0.6 Y0.8 Y0.10
Direction output point for
Y0.1 Y0.3 Y0.5 Y0.7 Y0.9 Y0.11
D2
Busy flag SM460 SM480 SM500 SM520 SM540 SM560
Output mode SR462 SR482 SR502 SR522 SR542 SR562
SR460 SR480 SR500 SR520 SR540 SR560
Present output position
SR461 SR481 SR501 SR521 SR541 SR561
Backlash compensation SR478 SR498 SR518 SR538 SR558 SR578
D1 selects the odd output point number.
Output point for D1 Y0.1 Y0.3 Y0.5 Y0.7 Y0.9 Y0.11
Direction output point for
Y1.0 or above or any M device (BOOL)
D2
Busy flag SM472 SM492 SM512 SM532 SM552 SM572
SR474 SR494 SR514 SR534 SR554 SR574
Present output position
SR475 SR495 SR515 SR535 SR555 SR575
Backlash compensation SR479 SR499 SR519 SR539 SR559 SR579
6. When the value is 0 in SR462, SR482, SR502, SR522, SR542, and SR562, it indicates the Pulse+direction output mode. When the value is 1 in SR462, SR482, SR502,
SR522, SR542, and SR562, it indicates the A/B phase output mode.
Note: you can select the output mode only when D1 uses an even output point and D2 uses a recommended direction output point.
7. When the direction outputs are not using the default outputs to output, you can refer to the table below for setting up the outputting time that pulse outputting goes first before
direction outputting does. So that you can be sure the outputting only happens when switching to the direction outputs. The unit for SR is millisecond and the range is 0-20
ms. Default is 0, indicating inactive.
Output point for D1 Y0.0 Y0.1 Y0.2 Y0.3 Y0.4 Y0.5
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SR number SR640 SR641 SR642 SR643 SR644 SR645
Output point for D1 Y0.6 Y0.7 Y0.8 Y0.9 Y0.10 Y0.11
SR number SR646 SR647 SR648 SR649 SR650 SR651
Note: the time source here is from PLC scan time. (available for firmware version 1.02.20 or later)
8. When the output begins, the Busy flag SM is ON. When the output is completed, the Busy flag is automatically reset to OFF and the Completion flag is not ON.
9. The following graph shows the output timing diagram. For the Busy flag in the following graph, refer to the Busy flag axis.
10. You can modify the target output frequency during instruction execution but you can NOT change the ramp-up or ramp-down time. When the new target frequency is greater
than the previous one, the instruction uses the ramp-up slope. When the new frequency is less than the previous one, the instruction uses the ramp-down slope.
11. The instruction sets the ramp-up/down slope through conversion of the set time and target frequency when the instruction is executed. The slope does not change with the
changing target frequency in the output process. For example, the original target output frequency is 1 kHz and then it is modified to 2 kHz. The actual ramp-down time is
different from the original time. The dotted line is the ramp-up and ramp down timing diagram after the target frequency is modified.
12. If there is any change on the frequency during ramp up or ramp down, the change can only be carried out after the original frequency completes outputting. For example, if
the new target frequency is 100 Hz and the ramp-up timing is set at 100 (1 second), after the original frequency completes outputting, the new target frequency 100 Hz will be
outputted next. (Even though the target frequency changes every 10 ms but if the pulse does NOT complete outputting, the change can NOT be applied.)
Example (ST program):
It is suggested to use ladder diagrams as the programming language in this instruction. If you need to use structured texts, you need to use the output completion auto-reset flag as
well for the PLC to know the output point is free and ready to be used again when the output completes. Taking Y0.0 as the output point, the program should be written as below.
See the following example.
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