SMC_GroupJog (FB)¶

FUNCTION_BLOCK SMC_GroupJog

This function block has been deprecated. Please don’t use it in new projects. See SMC_GroupJog2 for the recommended way to jog an axis group.

Activates coordinated jogging of the axis group. When this function block is active, the axis group tracks the position (and orientation) given by the axes connected to the inputs AxisX, AxisY, AxisZ, AxisA, AxisB, and AxisC.

Initially, a movement to the current position of the axes is commanded. Once this movement is done, the output InitialPositionReached is TRUE.

The position of the axes is interpreted in the coordinate system defined by input CoordSystem. To jog in machine coordinates, for example, use MCS here.

Since the position is followed via tracking, one of the product coordinate systems is used for this purpose. This can be configured in input CoordSystemPCS. Note that this coordinate system of the axis group is changed.

To perform cartesian jogging, the function blocks MC_Jog or SMC_Inch can be used on the axes given as inputs to this function block. It is recommended to call the movement function blocks of the virtual axes _before_ SMC_GroupJog.

Before restarting this FB without changing CoordSystemPCS, you have to command an additional movement, like MC_GroupHalt. Otherwise, error SMC_AXIS_GROUP_PCS_STILL_IN_USE is returned.

Compared to SMC_GroupJog2, this function block has several disadvantages:

• The input ABC_as_ACS is no longer supported (since SoftMotion 4.11.0.0).

• It requires virtual axes for all jogged coordinates.

• If the robot cannot follow the configured jogging velocity, jogging may leave the straight-line path, or move the TCP temporarily even if only the orientation is being jogged.

• A path override commanded with MC_GroupSetOverride does not affect (cartesian) jogging.

InOut:

Scope	Name	Type	Initial	Comment
Inout	AxisGroup	AXIS_GROUP_REF_SM3		Reference to a group of axes
Input	Execute	BOOL		Start the action at the rising edge
	CoordSystem	SMC_COORD_SYSTEM		The coordinate system in which the axis group is jogged.
	CoordSystemPCS	SMC_COORD_SYSTEM		The coordinate system used internally for the jogging. Must be a PCS. This coordinate system is changed using SMC_SetDynCoordTransformEx.
	VelFactor	LREAL	1	The maximum velocity of each axis is multiplied by this factor, which must be in the range ]0, 1].
	AccFactor	LREAL	1	The maximum acceleration of each axis is multiplied by this factor, which must be in the range ]0, 1].
	JerkFactor	LREAL	1	The maximum jerk of each axis is multiplied by this factor, which must be in the range ]0, 1].
	AxisX	IAxisRef		The axis controlling the x-coordinate of the configured coordinate system or the first axis of the axis group in case of ACS.
	AxisY	IAxisRef		The axis controlling the y-coordinate of the configured coordinate system or the second axis of the axis group in case of ACS. Set to 0 if not applicable.
	AxisZ	IAxisRef		The axis controlling the z-coordinate of the configured coordinate system or the third axis of the axis group in case of ACS. Set to 0 if not applicable.
	AxisA	IAxisRef		This axis controls the fourth axis of the axis group, if the coordinate system is ACS or the rotation around the x-axis of the configured cartesian coordinate system otherwise. Set to 0 if not applicable.
	AxisB	IAxisRef		This axis controls the fifth axis of the axis group, if the coordinate system is ACS or the rotation around the y-axis of the configured cartesian coordinate system otherwise. Set to 0 if not applicable.
	AxisC	IAxisRef		This axis controls the sixth axis of the axis group, if the coordinate system is ACS or the rotation around the z-axis of the configured cartesian coordinate system otherwise. Set to 0 if not applicable.
	ABC_as_ACS	BOOL		This input is no longer supported.
Output	Busy	BOOL		The FB is not finished
	InitialPositionReached	BOOL		The position given by AxisX, …, AxisC has been reached initially, after the rising edge of Execute.
	CommandAborted	BOOL		Command is aborted by another command
	Error	BOOL		Signals that an error has occurred within the function block
	ErrorID	SMC_ERROR		Error identification