MceManualMotionIO

Used as input

Specifies the number of the MotoLogix system mapped to this function.

This input is monitored for changes (will reset the state machine and send user frame and tool settings on the next jog command).

Used as input

Specifies the motion device targeted by this function.

Used as input

Set to True to enable the manual mode.

While the manual mode is enabled, the FB is active and manual motions can be performed.

Disable this parameter when performing automatic motions (e.g. McePosTable).

Used as input

System ready for running motion commands. This signal is produced by MceStartStop .

Used as input

In inching mode a rising edge of a jog input leads to just a single relative motion command with a very short travel distance. This is useful for the last really fine jog motions in scenarios where highest precision is required such as defining a user frame.

Used as output

State machine in idle state.

Used as output

State machine in busy state.

Used as output

State machine in coasting state.

Used as output

State machine in done state.

Used as output

State machine in error state. For details see nErrorCode .

Used as output

Details on the state machine error.

Format aa.bbb

Used as input

Jog manipulator axis in negative direction.

// nJogType 0 (axis)
[0]     // S
[1]     // L
[2]     // U
[3]     // R
[4]     // B
[5]     // T

// nJogType 1 (cartesian)
[0]     // X
[1]     // Y
[2]     // Z
[3]     // Rx
[4]     // Ry
[5]     // Rz

Used as input

Jog manipulator axis in positive direction.

// nJogType 0 (axis)
[0]     // S
[1]     // L
[2]     // U
[3]     // R
[4]     // B
[5]     // T

// nJogType 1 (cartesian)
[0]     // X
[1]     // Y
[2]     // Z
[3]     // Rx
[4]     // Ry
[5]     // Rz

Used as input

Jog to aTargetPosition in the selected nUserFrame .

This function can be used to manually move the robot to a specific position (e.g. the home position).

If McePosTable is used for automatic motion, bMoveTo can also be used to jog to a position registered in the PosTable. It is convenient for testing a robot position at slow speed with the possibility to stop the motion if a collision is going to occur.

Used as input

Target position for the “jog-to-point” function (bMoveTo).

The position type depends on aTargetType value.

// aTargetType 0 (axis)
[0]     // S
[1]     // L
[2]     // U
[3]     // R
[4]     // B
[5]     // T

// aTargetType 1 (cartesian)
[0]     // X
[1]     // Y
[2]     // Z
[3]     // Rx
[4]     // Ry
[5]     // Rz

Used as input

Select the target type of aTargetPosition .

Used as input

Specifies how the speed setting for the jog to point motion should be interpreted.

By default, the speed setting for a motion to a TCP target position is interpreted as linear speed. That is fine for most cases. However, if the resulting motion of this entry has a big portion of TCP rotational motion and just little (or no) TCP translational motion, it will result in unexpected fast axis motion.

In such case, this parameter shall be set True.

Used as input

Acceleration in % of maximum rated acceleration (range: 20-100%).

Used as input

Deceleration in % of maximum rated deceleration (range: 20-100%).

Used as output

Connect these signals to the indicator lights of the jog buttons.

Used as output

Connect these signals to the indicator lights of the jog buttons.

Used as output

Connect this signal to the indicator light of the jog to position button.

Used as input

Type of jog motion.

Used as input

Coord frame for the cartesian jog motion.

This only applies to regular jog functions (e.g. aJogRobotAxisNeg), not to jogging to a target position (bMoveTo).

Used as input

Selected user frame for cartesian jog (range: 0-GVL.USERFRAMES_UBOUND) and for jogging to a target position (bMoveTo).

This input is monitored for changes. A change will activate the selected user frame on the next jog command or at standstill.

Used as input

Selected tool for cartesian jog (range: 0-63).

This input is monitored for changes. A change will activate the selected tool on the next jog command or at standstill.

Used as input

Speed as percentage of rated maximum jog (range: 0.1-100%).

State machine 1: Handling the manual motion.

State machine 2: Update settings for cartesian motion.

Defines a waiting time between consecutive jog commands. This allows other MotoLogix commands to be sent in between the flow of jog commands.

Defines the coasting time which applies after the last jog command was processed. This is used by the state machine to determine when the jog motion has completed.

• This value should be set to at least the value of the jog coast setting defined in robot parameter S3C1385.