Jogging to the end position (advanced)

Description

The function block KRC_JogAdvanced can be used to move to an end position with a linear motion or a point-to-point motion. The function is activated by means of the parameter JogAdvanced.

The following modified values are permanently transferred to the robot controller as long as the parameter JogAdvanced is activated:

Tool
Base
Interpolation mode
Motion type

	The robot interpreter cannot perform any other calculations if the output “Busy” has the value TRUE.

	This function block cannot be used with conveyor systems.

Jogging to the end position (advanced) 3: — Function block KRC_JogAdvanced

Inputs

Parameter	Type	Description
AxisGroupIdx	INT	Index of axis group 1 … 5
MoveType	INT	Motion type for Cartesian or axis-specific jogging 1: Axis-specific as a spline motion and Cartesian as a spline motion in the BASE coordinate system 2: Axis-specific and Cartesian as a spline motion in the TOOL coordinate system
Velocity	INT	Velocity 0 … 100% Refers to the maximum value specified in the machine data. The maximum value is dependent on the robot type. 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. Default value: 0% (= acceleration is not changed)
CoordinateSystem	COORDSYS	Coordinate system to which the coordinates of the end position refer. (>>> COORDSYS)
JogAdvanced	BOOL	The JogAdvanced function is activated at a rising edge of the signal and deactivated at a falling edge of the signal.
B_A1_JA_P	BOOL	Motion instruction The motion instruction is only executed if the parameter JogAdvanced is activated. The motion is started at a rising edge of the signal and stopped at a falling edge of the signal. In the case of axis-specific motion, 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. 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. The inputs that end in "P" (e.g. B_A2_JA_P) move in the positive direction. The inputs that end in "M" (e.g. B_A3_JA_M) move in the negative direction.
B_A1_JA_M	BOOL
B_A2_JA_P	BOOL
B_A2_JA_M	BOOL
B_A3_JA_P	BOOL
B_A3_JA_M	BOOL
B_A4_JA_P	BOOL
B_A4_JA_M	BOOL
B_A5_JA_P	BOOL
B_A5_JA_M	BOOL
B_A6_JA_P	BOOL
B_A6_JA_M	BOOL
B_E1_JA_P	BOOL
B_E1_JA_M	BOOL
B_E2_JA_P	BOOL
B_E2_JA_M	BOOL
B_E3_JA_P	BOOL
B_E3_JA_M	BOOL
B_E4_JA_P	BOOL
B_E4_JA_M	BOOL
B_E5_JA_P	BOOL
B_E5_JA_M	BOOL
B_E6_JA_P	BOOL
B_E6_JA_M	BOOL
B_X_JA_P	BOOL
B_X_JA_M	BOOL
B_Y_JA_P	BOOL
B_Y_JA_M	BOOL
B_Z_JA_P	BOOL
B_Z_JA_M	BOOL
B_A_JA_P	BOOL
B_A_JA_M	BOOL
B_B_JA_P	BOOL
B_B_JA_M	BOOL
B_C_JA_P	BOOL
B_C_JA_M	BOOL

Outputs

Parameter	Type	Description
Busy	BOOL	TRUE = function block is active and waiting for a motion instruction
Active	BOOL	TRUE = motion is currently being executed
Error	BOOL	TRUE = error in function block
ErrorID	DINT	Error number