Jog

This core function is used to start and stop the axis with a certain velocity but without a defined target position.

Properties

Name	Type	Access	Description
InitState	BOOL	Get, Set	The core function is not completely and successfully initialized.
FB_Jog
IsJoggingM	BOOL	Get	A TRUE signals an active jogging in negative direction.
IsJoggingP	BOOL	Get	A TRUE signals an active jogging in positive direction.
IsStopping	BOOL	Get	A TRUE signals the stopping of the axis after an active jogging.
Limiting	LREAL	Get, Set	Setpoint for limiting (e.g. torque, pressure) during jogging.
TorqueLimiting¹	LREAL	Get, Set	This sets the torque limit during jogging.
FB_CorefunctionFeedback
AbortedState	BOOL	Get, Set	Signals the abort of a command by another Corefunction.
BusyState	BOOL	Get, Set	Signals the active execution of a command.
DoneState	BOOL	Get, Set	Signals the successful execution of a command.
IdleState	BOOL	Get, Set	The Corefunction is ready for operation and commandable.
IsCommanded	BOOL	Get	Signals the pending of a command.
FB_Corefunction
FailedState	BOOL	Get, Set	If IsActivated is TRUE at the same time: Signals the failure of an accepted command. If IsActivated is FALSE at the same time: Signals the rejection of a command.
HasFeedback	BOOL	Get	The core function has responded to a pending command.
IsActivated	BOOL	Get	The core function has an accepted command pending.
IsLocalCmd	BOOL	Get	Signals that the axis is assigned with a command of this core function.
ReadyState	BOOL	Get, Set	The Corefunction is ready for operation, but is not commandable at this time. Possible reasons are: - The axis is not enabled. - Another Corefunction is active. - The Corefunction does not support any commands.

¹Obsolete

Methods

Name	Description
[`INTERN`] Cyclic()	This method is called cyclically by the axis.
FB_Jog
DoJogM()	This method performs the start and stop of the axis in the negative direction.
DoJogP()	This method performs the start and stop of the axis in the positive direction.
SetParameter()	This method is used to set the parameters of a movement in jogging mode.

Interfaces

Type	Description
I_Corefunction	Standard interface on FB_Corefunction.
I_Jog	Standard interface on FB_Jog.
I_CorefunctionFeedback	Standard interface on FB_CorefunctionFeedback.

Example:

IF bJogPos THEN

    hresult := iAxisBase.Jog.SetParameter(
        fAcceleration := 0.0,    // default
        fDeceleration := 0.0,    // default
        fJerk := 0.0,            // default
        fVelocity := 20.0        // [mm/s]
    );
    iAxisBase.Jog.DoJogP(TRUE);
    
ELSIF iAxisBase.Jog.IsCommanded THEN
    
    iAxisBase.Jog.DoJogP(FALSE);
END_IF

Requirements

Development environment	Target platform	PLC libraries to include
TwinCAT v3.1.4024.55	PC or CX (x64, x86)	Tc3_PlasticFunctions (>= v12.6.1.0)

Further Information