
(* 4x3 flyways 1 xbot - jogging, jogging short axis *)
FUNCTION_BLOCK Example18_jogging
	(*move xbot 1 to 120,120*)
	PMC_XYMotion1(PM_Controller := PM_Controller,Execute := Execute,cmdLB := 1,XbotID := 1,Mode := 0,Type_ := 0,PosX := 0.12,PosY := 0.12,EndVel := 0,MaxVel := 1,MaxAcc := 10);

	(*jog xbot 1 up and right*)
	PMC_JogVelocity1(PM_Controller := PM_Controller,Execute := PMC_XYMotion1.Done,XbotID := 1,Enable := TRUE,Direction := 0.7854,Velocity := 0.05);
	Delay1(Execute := PMC_JogVelocity1.Done,Cycles := 10000);

	(*stop xbot 1 jogging*)
	PMC_JogVelocity2(PM_Controller := PM_Controller,Execute := Delay1.Done,XbotID := 1,Enable := FALSE,Direction := 3.927,Velocity := 0.05);
	Delay2(Execute := PMC_JogVelocity2.Done,Cycles := 500);

	(*jog xbot 1 down and left*)
	PMC_JogVelocity3(PM_Controller := PM_Controller,Execute := Delay2.Done,XbotID := 1,Enable := TRUE,Direction := 3.927,Velocity := 0.05);
	Delay3(Execute := PMC_JogVelocity3.Done,Cycles := 10000);

	(*stop xbot 1 jogging*)
	PMC_JogVelocity4(PM_Controller := PM_Controller,Execute := Delay3.Done,XbotID := 1,Enable := FALSE,Direction := 3.927,Velocity := 0.05);
	Delay4(Execute := PMC_JogVelocity4.Done,Cycles := 500);

	(*jog xbot 1 counterclockwise (positive Rz)*)
	PMC_JogShortAxis1(Execute := Delay4.Done,XbotID := 1,Enable := TRUE,AxisID := 3,Velocity := 0.001,PM_Controller := PM_Controller);
	Delay5(Execute := PMC_JogShortAxis1.Done,Cycles := 7500);

	(*stop xbot 1 jogging*)
	PMC_JogshortAxis2(Execute := Delay5.Done,XbotID := 1,Enable := FALSE,AxisID := 3,Velocity := 0.001,PM_Controller := PM_Controller);
	Delay6(Execute := PMC_JogshortAxis2.Done,Cycles := 500);

	(*jog xbot 1 clockwise (negative Rz)*)
	PMC_JogShortAxis3(Execute := Delay6.Done,XbotID := 1,Enable := TRUE,AxisID := 3,Velocity := -0.001,PM_Controller := PM_Controller);
	Delay7(Execute := PMC_JogShortAxis3.Done,Cycles := 7500);

	(*stop xbot 1 jogging*)
	PMC_JogshortAxis4(Execute := Delay7.Done,XbotID := 1,Enable := FALSE,AxisID := 3,Velocity := -0.001,PM_Controller := PM_Controller);
	Done := PMC_JogshortAxis4.Done;
END_FUNCTION_BLOCK
