Y_AX_Jog
This function block combines the PLCopen functions
MC_MoveVelocity
and
MC_Stop
to provide a jogging feature only while the Forward or Reverse inputs are TRUE. The function will default to stopping the axis when neither (or both).
Parameters:
| * | Parameter | Data Type | Description | Default |
|---|---|---|---|---|
| VAR_IN_OUT | ||||
| B | Axis | AXIS_REF | Logical axis reference. This value can be located on the Configuration tab in the Hardware Configuration (logical axis number). | |
| VAR_INPUT | ||||
| V | Forward | BOOL | Runs the axis in a forward direction when TRUE. | FALSE |
| V | Reverse | BOOL | Runs the axis in a Reverse direction when TRUE. | FALSE |
| B | Velocity | LREAL | Absolute value of the velocity in user units/second. | LREAL#0.0 |
| B | Acceleration | LREAL | Value of the acceleration in user units/second^2 (acceleration is applicable with same sign of torque and velocity) | LREAL#0.0 |
| B | Deceleration | LREAL | Value of the deceleration in user units/second^2 (deceleration is applicable with opposite signs of torque and velocity.) | LREAL#0.0 |
| E | Jerk | LREAL | Not supported; reserved for future use. Use S-Curve parameters 1300 and 1301. Value of the jerk in [user units / second^3]. | LREAL#0.0 |
| VAR_OUTPUT | ||||
| B | InVelocity | BOOL | Set high when the axis first reaches the specified velocity (function is complete). This output is reset when both the Forward and Reverse inputs are low. | |
| B | Done | BOOL | Turns on for one scan when the axis comes to a stop after both Forward and Reverse inputs go FALSE. | |
| B | Busy | BOOL | Set high upon the rising edge of the Forward or Reverse input, and reset when Done, CommandAborted, or Error is true. | |
| B | CommandAborted | BOOL | The CommandAborted output is set to TRUE if the operation performed by the instance of the function block is aborted by another command. | |
| B | Error | BOOL | Set high if an error has occurred during the execution of the function block. This output is cleared when Forward or Reverse inputs go low. | |
| E | ErrorID | UINT | If Error is true, this output provides the Error ID. This output is reset when Forward or Reverse inputs go low. | |
Notes:
- The velocity can be changed on the fly without toggling the Forward or Reverse input. The code inside this function block will detect if the velocity has changed, and automatically retrigger the MC_MoveVelocity function block inside. Acceleration and Deceleration can be changed on the fly.
- In case CommandAborted of the FB goes to true, the Forward or Reverse Input should be retriggered in order to take effect again. No change in input parameter will be taken into effect until the Enable (Forward or Reverse) is retriggered.
- See the Jog eLearning Module on Yaskawa's YouTube channel.
Error Description:
See the
Function Block ErrorID List.
Example:
Power on the Axis and initiate motion by enabling the Forward input to Y_AX_Jog.
The Logic Analyzer trace is shown below for the Axis jogged in the Forward and Reverse direction.
