Jogging to an end position

Description

The function block KRC_Jog can be used to move to an end position with a linear motion or a point-to-point motion.

The function is always executed in ABORTING mode, i.e. all active motions and buffered statements are canceled, the robot is braked and the motion is then executed.

Jogging to an end position 1: — Function block KRC_Jog

Inputs

Parameter	Type	Description
AxisGroupIdx	INT	Index of axis group 1 … 5
MoveType	INT	Motion type for Cartesian or axis-specific jogging 0: Axis-specific 1: Cartesian 2: Axis-specific, as spline motion 3: Cartesian, as spline motion
Velocity	INT	Velocity 0 … 100% Refers to the maximum value specified in the machine data. The maximum value is dependent on the robot type. In the case of MoveType 1 and 3, the maximum value refers to the value of DEF_VEL_CP of the robot system. Default value: 0% (= velocity is not changed)
Acceleration	INT	Acceleration 0 … 100% Refers to the maximum value specified in the machine data. The maximum value is dependent on the robot type. In the case of MoveType 1 and 3, the maximum value refers to the value of DEF_ACC_CP of the robot system. Default value: 0% (= acceleration is not changed)
CoordinateSystem	COORDSYS	Coordinate system to which the coordinates of the end position refer. (>>> COORDSYS)
Increment	REAL	Incremental jogging The maximum distance for incremental jogging can be limited using this parameter. > 0.0: The robot moves no more than the specified distance. For axis-specific jogging, the maximum distance is automatically limited to the software limit switches. For Cartesian jogging in the A, B or C direction, the maximum distance is limited to 90°. If the input signal is reset before the robot has reached the end position, the robot stops immediately. ≤ 0.0: For Cartesian jogging in the X, Y or Z direction, the maximum distance is limited to 100000 mm. The robot motion restarts each time the input signals are changed.
A1_X_P	BOOL	Motion instruction The motion is started at a rising edge of the signal and stopped at a falling edge of the signal. In the case of MoveType 0 and 2, the robot axes can be moved as far as 0.1 mm/° before the software limit switches. For this, the software limit switch values are read once when the PLC is started. Several robot axes can be moved simultaneously. The TCP can be moved along the axes of several coordinate systems. If the input signals are changed, the motion is stopped and then resumed with the modified configuration. If the positive and negative motion directions are activated simultaneously, an error number is displayed. Depending on the MoveType, the inputs for axes A1 … A6 have a dual assignment with the coordinates, e.g. A1 with X, A2 with Y, etc. The inputs that end in "P" (e.g. A2_Y_P) move in the positive direction. The inputs that end in "M" (e.g. A3_Z_M) move in the negative direction.
A1_X_M	BOOL
A2_Y_P	BOOL
A2_Y_M	BOOL
A3_Z_P	BOOL
A3_Z_M	BOOL
A4_A_P	BOOL
A4_A_M	BOOL
A5_B_P	BOOL
A5_B_M	BOOL
A6_C_P	BOOL
A6_C_M	BOOL
E1_P	BOOL
E1_M	BOOL
E2_P	BOOL
E2_M	BOOL
E3_P	BOOL
E3_M	BOOL
E4_P	BOOL
E4_M	BOOL
E5_P	BOOL
E5_M	BOOL
E6_P	BOOL
E6_M	BOOL

Outputs

Parameter	Type	Description
Busy	BOOL	TRUE = statement is currently being transferred or has already been transferred
Active	BOOL	TRUE = motion is currently being executed
Done	BOOL	TRUE = motion has stopped
Aborted	BOOL	TRUE = statement/motion has been aborted
Error	BOOL	TRUE = error in function block
ErrorID	DINT	Error number