Breadcrumbs

Jog Short Axis

Jog an XBot short axis at the specified velocity, in the desired direction.

as_setup16.png

Fieldbus Interface

PMC_JogShortAxis 

Inputs

Name

Data Type

Description

Execute

BOOL

XbotID

USINT

ID of the XBot.

Enable

BOOL

Set enable to 1 to execute the function block, 0 to stop execution

AxisID

USINT

Axis to jog; 0-Z, 1-Rx, 2-Ry, 3-Rz

Velocity

REAL

Jogging speed in meters/second or radians/second

PM_Controller

PMControllerType
Outputs

Name

Data Type

Description

Done

BOOL

Busy

BOOL

Aborted

BOOL

Error

BOOL

ErrorID

UINT

Conditions

Operating Conditions

Preconditions

Postconditions

Description

Jog an XBot short axis at the specified velocity, in the desired direction.

The XBot will continue jogging until it:

  • Is stopped by a Stop XBot Motion command

  • Detects another XBot as an obstacle

  • Reaches the Flyway boundary