MC_Jog

Syntax

Definition:

FUNCTION_BLOCK MC_Jog
VAR_IN_OUT
    Axis           : Reference To  AXIS_REF;
END_VAR
VAR_INPUT
    JogForward     : BOOL;
    JogBackward    : BOOL;
    Mode           : EJogMode;
    Distance       : LREAL;
    Velocity       : LREAL;
    Acceleration   : LREAL;
    Deceleration   : LREAL;
    Jerk           : LREAL;
END_VAR
VAR_OUTPUT
    Done           : BOOL;
    Busy           : BOOL;
    Active         : BOOL;
    CommandAborted : BOOL;
    Error          : BOOL;
    ErrorId        : UDINT;
END_VAR

Inputs

Name	Type	Default	Description
JogForward	BOOL		The command is executed with a rising edge, and the axis is moved in positive direction. Depending on the mode, the axis moves as long as the signal remains TRUE, or it stops automatically after a specified distance.
JogBackward	BOOL		The command is executed with a rising edge, and the axis is moved in negative direction. Depending on the mode, the axis moves as long as the signal remains TRUE, or it stops automatically after a specified distance.
Mode	EJogMode	StandardSlow	Determines the operation mode in which the manual function is executed.
Distance	LREAL	#Ignore	Distance for movements in Mode Inching
Velocity	LREAL	#Ignore	Jog velocity ([PosUnit]/s, positive). Required for Continuous and Inching modes; StandardSlow and StandardFast use axis defaults.
Acceleration	LREAL	#Default	Maximum acceleration ([PosUnit]/s^2, positive)
Deceleration	LREAL	#Default	Maximum deceleration ([PosUnit]/s^2, positive)
Jerk	LREAL	#Default	Maximum jerk ([PosUnit]/s^3, positive)

In/Outputs

Name	Type	Description
Axis	Reference To AXIS_REF	Reference to the axis

Outputs

Name	Type	Description
Done	BOOL	Function block has succeeded.
Busy	BOOL	Function block is not finished and new output values are to be expected.
Active	BOOL	Function block has active control on the axis.
CommandAborted	BOOL	Command is aborted by another command.
Error	BOOL	Error occurred within function block.
ErrorId	UDINT	Error identifier

Further information

The operating mode of the MC_Jog function block is defined via the input Mode of type E_JogMode:

E_JogMode.StandardSlow

The axis moves as long as the signal at either the JogForward or JogBackward TRUE input is TRUE. The velocity specified by the Jog Velocity Slow axis parameter and the dynamics specified by the Acceleration, Deceleration, and Jerk inputs are used.

The Distance and Velocity function block inputs have no effect in this operating mode.

E_JogMode.StandardFast

The axis moves as long as the signal at either the JogForward or JogBackward TRUE input is TRUE. The velocity specified by the Jog Velocity Fast axis parameter and the dynamics specified by the Acceleration, Deceleration, and Jerk inputs are used.

The Distance and Velocity function block inputs have no effect in this operating mode.

E_JogMode.Continuous

The axis moves as long as the signal at either the JogForward or JogBackward TRUE input is TRUE.

The function block input Distance has no effect in this operating mode.

E_JogMode.Inching

The axis moves by the distance specified at the Distance input of the function block as soon as a rising edge is detected at the JogForward or JogBackward input.

Version information

TwinCAT Standard >= v3.1.4026.23.1
TF5500 MC3 Base >= v4.0.6