MC_MoveJog_BkPlcMc

This function block starts and monitors the movement of an axis.

Inputs

VAR_INPUT
    JogForward:      BOOL;
    JogBackwards:    BOOL;
    Mode:            E_TcMcJogMode;
    Position:        LREAL;
    Velocity:        LREAL;
    Acceleration:    LREAL;
    Deceleration:    LREAL
    Jerk:            LREAL
END_VAR

Name	Type	Description
JogForward	BOOL	The command is executed with rising edge and the axis moved in positive direction of travel. Depending on the mode the axis moves as long as the signal remains TRUE or stops automatically after a specified distance. During the motion no further signal edges are accepted (this includes the JogBackwards input). If signal edges occur simultaneously at the JogForward and JogBackwards inputs, JogForward has priority.
JogBackwards	BOOL	The command is executed with rising edge and the axis moved in negative direction of travel. JogForward and JogBackwards should be triggered alternatively, although they are also mutually locked internally.
Mode	E_TcMcJogMode	The input defines the E_TcMcJogMode operation mode in which the manual function is to be executed.
Position	LREAL	[mm] Relative distance for movements in MC_JOGMODE_INCHING operation mode.
Velocity	LREAL	[mm/s] The required motion velocity in actual value units of the axis per second.
Acceleration	LREAL	[mm/s²] The required acceleration in actual value units of the axis per square second. If this parameter is 0.0, it is replaced by a default value from the axis parameters.
Deceleration	LREAL	[mm/s²] The required deceleration in actual value units of the axis per square second. If this parameter is 0.0, it is replaced by a default value from the axis parameters.
Jerk	LREAL	[mm/s³] reserved.

Inputs/outputs

VAR_INOUT
    Axis:           Axis_Ref_BkPlcMc;
END_VAR

Name	Type	Description
Axis	Axis_Ref_BkPlcMc	Here, the address of a variable of type Axis_Ref_BkPlcMc should be transferred.

Outputs

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

Name	Type	Description
Busy	BOOL	Indicates that a command is being processed.
Done	BOOL	Successful processing of the movement is indicated here.
CommandAborted	BOOL	Abortion of the movement is indicated here.
Error	BOOL	The occurrence of an error is indicated here.
ErrorID	UDINT	An encoded indication of the cause of the error is provided here.

Direction: reserved. This input was only amended for compatibility reasons and either should not be assigned, or the constant MC_Shortest_Way_BkPlcMc should be assigned to it. (from V3.0.8)

BufferMode: reserved. This input is provided in preparation for a future build. It should currently either not be assigned or assigned the constant Aborting_BkPlcMc. (from V3.0.8)

Behavior of the function block

On a rising edge at JogForward or JogBackwards a movement is started, depending on the mode used.

MC_JOGMODE_STANDARD_SLOW: triggers a MC_MoveVelocity_BkPlcMc on a rising edge and a MC_Stop_BkPlcMc on a falling edge.
MC_JOGMODE_STANDARD_FAST: triggers a MC_MoveVelocity_BkPlcMc on a rising edge and a MC_Stop_BkPlcMc on a falling edge.
MC_JOGMODE_CONTINOUS: triggers a MC_MoveVelocity_BkPlcMc on a rising edge and a MC_Stop_BkPlcMc on a falling edge.
MC_JOGMODE_INCHING: triggers a MC_MoveRelative_BkPlcMc on a rising edge.

The lower-level function blocks check the higher-level axis interface and report the problems at the output Error and ErrorID

The movement begins if these checks can be carried out without problems.

If the motion algorithm reports an error code while the movement is being executed, the system responds with Error and ErrorID:=the motion algorithm's error code. If completion of the movement is prevented by the activity of another function block, the system responds with CommandAborted. If the motion algorithm achieves the target conditions for the axis, the system responds with Done.

A falling edge at Execute clears all the pending output signals. If, while the movement is still active, Execute is set to FALSE, execution of the movement that had started continues unaffected. The signals provided at the end of the movement (Error, ErrorID, CommandAborted, Done) are made available for one cycle.