MC_GroupJog

FUNCTION_BLOCK MC_GroupJog

This function block allows to move the robot from a user-supplied teach pendant in manual mode only.

• The robot can be moved in speed or in position mode depending on the value of the JogStep input parameter.
• Several axes can be moved simultaneously when their dedicated input are set.
• The robot speed still depends on the override value.
• If JogMode input is Frame(2) or Tool(3) the robot will move along Frame and Tool coordinate systems selected by Staeubli_Robot.Command.CoordSystemCmd and Staeubli_Robot.Command.ToolCmd

Examples

• If you set JogStep value to 0 and JogValue_xx to 50% and the override value is 10%, the selected axes will move with 5% of the nominal speed.
• If you set JogStep value to 3 and JogValue_xx to 50%, the selected axes will move:
• 1.5 degrees or millimeters when JogMode is Joint (1).
• 1.5 millimeters in direction X,Y,Z when JogMode is Frame(2) or Tool(3).
• 1.5 degrees in direction RX,RY,RZ when JogMode is Frame(2) or Tool(3).

This function is effective only when Stäubli Teach Pendant is removed and replaced by the delivered dummy plug. The controller must be configured to have user-supplied teach pendant in use (file iomap.cfx on controller). Manual operation mode can be selected either from Stäubli Working Mode Selector Box or from user-supplied teach pendant

FUNCTION_BLOCK MC_GroupJog
VAR_INPUT
    Enable     : BOOL := FALSE;
    JogMode    : UINT := 0;
    JogStep    : REAL := 0;
    JogValue1  : INT := 0;
    JogValue2  : INT := 0;
    JogValue3  : INT := 0;
    JogValue4  : INT := 0;
    JogValue5  : INT := 0;
    JogValue6  : INT := 0;
END_VAR
VAR_OUTPUT
    Busy     : BOOL := FALSE;
    Error    : BOOL := FALSE;
    ErrorID  : UDINT := 0;
END_VAR
VAR_IN_OUT
    AxesGroup  : T_StaeubliRobot;
END_VAR