Jog an XBot at the specified velocity and acceleration, in the desired direction.
Fieldbus Interface
PMC_JogVelocity
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 |
Direction | REAL | Direction to jog in radians. 0 rad is in the +X direction |
Velocity | REAL | Jogging speed, m/s |
Acceleration | REAL | Jogging acceleration, m/s^2 (if < 0.15 m/s^2, max acceleration is used) |
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 PMC 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 at the specified velocity and acceleration, 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
Changelog
PMC v117.10.10 - Added Acceleration: the user can now specify the XBot's acceleration
