Jogging of Axis Groups
You can use the SMC_GroupJog2 function block to move an axis group in space.
The SMC_GroupJog2 function block has two Boolean inputs for each coordinate. One input is for traversing forward along this coordinate, and one input is for traversing backward.
The Boolean inputs for the different coordinates for SMC_GroupJog2 can be interpreted in different ways. For example, in Cartesian coordinates, machine coordinates, axis coordinates, or tool coordinates, depending on the coordinate system which is set. With a special input ABC_as_ACS: BOOL, both X/Y/Z and the axes of the tool kinematics can be jogged simultaneously in Cartesian coordinates and axis coordinates. "Mixed" jogging is supported only when the kinematics are coupled and the position kinematics implement the interface ISMPositionKinematics_Offset. (Otherwise the function block yields an error.)
Tip
In jogging mode, A rotates the TCP about the X-axis of the configured coordinate system (MCS, WCS, PCS, or TCS). B and C rotate the TCP about the Y- and Z-axis in the same coordinate system. However, this applies only when ABC_as_ACS = FALSE.
Cartesian jogging starts when the SMC_GroupJog2 function block receives a rising edge and sets the Busy output. Cartesian jogging causes the interruption of active coordinated movements or movements of the axes of the kinematics. Cartesian jogging ends when the jogging is interrupted by a movement (coordinated or on the axes of the kinematics) or when the position is outside of the workspace. When jogging, the axis limits are always maintained to the axes of the kinematics.
For more information, see: Jogging a Robot