MC_Jog (Manual Motion)

The function block MC_Jog enables an axis to be moved via manual keys. The key signal can be linked directly with the "JogForward" and "JogBackwards" inputs.

Inputs

VAR_INPUT
    JogForward   : BOOL;
    JogBackwards : BOOL;
    Velocity     : LREAL;
    Acceleration : LREAL;
    Deceleration : LREAL;
END_VAR

Name	Type	Description
JogForward	BOOL	The command is executed with a rising edge, and the axis is moved in positive direction of travel. During the motion no further signal edges are accepted (this includes the "JogBackwards" input).
JogBackwards	BOOL	The command is executed with a rising edge, and the axis is moved in negative direction of travel. "JogForward" and "JogBackwards" should be triggered alternatively, although they are also mutually locked internally.
Velocity	LREAL	Maximum travel velocity (>0).
Acceleration	LREAL	Acceleration (≥0).
Deceleration	LREAL	Deceleration (≥0).

Inputs/outputs

VAR_IN_OUT
    Axis : AXIS_REF;
END_VAR

Name	Type	Description
Axis	AXIS_REF	Axis data structure that unambiguously addresses an axis in the system. Among other parameters it contains the current axis status, including position, velocity or error state.

Outputs

VAR_OUTPUT
    Done           : BOOL;
    Busy           : BOOL;
    CommandAborted : BOOL;
    Error          : BOOL;
    ErrorID        : UDINT;
END_VAR

Name	Type	Description
Done	BOOL	TRUE if a movement was successfully completed.
Busy	BOOL	TRUE as soon as the function block is active. FALSE if it is in the default state. Only then can a further edge be accepted at the jog inputs.
Active	BOOL	Indicates that the axis is moved via the jog function.
CommandAborted	BOOL	TRUE if the process is interrupted by an external event, e.g. by the call up of MC_Stop.
Error	BOOL	TRUE, if an error occurs.
ErrorID	UDINT	If the error output is set, this parameter supplies the error number.

Requirements

Development environment	PLC libraries to include
TwinCAT 3.1.4024.11	Tc3_DriveMotionControl