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Jog Velocity

Jog Velocity

Owned by Comala Publishing
Jan 09, 2025
1 min read

Jog an XBot at the specified velocity and acceleration, in the desired direction.

Fieldbus Interface

PMC_JogVelocity

Name

Data Type

Description

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

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

Name

Data Type

Description

Name

Data Type

Description

Done

BOOL

Busy

BOOL

Aborted

BOOL

Error

BOOL

ErrorID

UINT

Conditions

Operating Conditions

Operating Conditions

Preconditions

Postconditions

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

 

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