Jog an XBot short axis at the specified velocity, in the desired direction.
Fieldbus Interface
PMC_JogShortAxis
Inputs
|
Name
|
Data Type
|
Description
|
|
Execute
|
BOOL
|
Execution of the function block begins on a rising edge of this input. |
|
XbotID
|
USINT
|
ID of the XBot. Real XBot IDs [1,78]. Virtual XBot IDs [100,127]
|
|
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
|
Data structure that specifies which PMC to connect to. There should be only 1 instance of this variable for each connected PMC. |
Outputs
|
Name
|
Data Type
|
Description
|
|
Done
|
BOOL
|
Execution successful. Function block is finished. (Note: Done will not become TRUE if Execute is already FALSE) |
|
Busy
|
BOOL
|
Function block is active and must continue to be called. |
|
Aborted
|
BOOL
|
Command aborted by another command. |
|
Error
|
BOOL
|
If there is an error in processing the command, then Error = TRUE, otherwise, FALSE. |
|
ErrorID
|
UINT
|
0x0: All OK. Otherwise, please see Fieldbus Reply Codes. |
Conditions
|
Operating Conditions
|
|
Preconditions
|
XBot(s) State is Idle or Stopped. |
|
Postconditions
|
The specified XBot(s) will enter the Motion State. |
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
