Y_GroupJogDirect

This function block will jog a group toward a specified n dimensional Position in the specified Coordinate System. Each axis of the group will move with the same Velocity, Acceleration, Deceleration and Jerk, as limited by the function block inputs. Specify limits that satisfy the limitations of the slowest axis.

Parameters

*	Parameter	Data Type	Description	Default
VAR_IN_OUT
B	AxesGroup	AXES_GROUP_REF	A logical reference to a group of axes, which contains several additional substructures pertaining to the group.
VAR_INPUT
B	Enable	BOOL	The function will continue to execute every scan while Enable is held high and there are no errors.	FALSE
B	Position	VECTOR	An array of values. The specific meaning of each value depends upon the Coordinate System specified and the mechanism, and the context. For example, the values could be world space positions or velocities.	Array of LREAL#0.0
V	LimitVelocity	LREAL	The maximum velocity for each axis in the axis coordinate system.	LREAL#0.0
V	LimitAccel	LREAL	The maximum acceleration for each axis in the axis coordinate system.	LREAL#0.0
E	LimitDecel	LREAL	The maximum deceleration for each axis in the axis coordinate system.	LREAL#0.0
E	LimitJerk	LREAL	The maximum jerk for each axis in the axis coordinate system.	LREAL#0.0
V	MoveOptions	Yt_GroupMoveOptions	Commands to specify the pose of a robot mechanism, set Cartesian or rotational velocity, velocity units, etc.	All zeros in structure
E	CoordSystem	MC_CoordinateSystem	Enumeration with the following values: 0 = ACS, 1 = MCS, 2 = PCS, 3 = TCS, 4 = WCS, 5 = TPCS.	MC_CoordinateSystem#ACS
B	BufferMode	MC_BufferMode	Defines the behavior of the axis - allowable modes are Aborting, Buffered, BlendingLow, BlendingPrevious, BlendingNext, and BlendingHigh.	MC_BufferMode#Aborting
VAR_OUTPUT
B	Valid	BOOL	Indicates that the function is operating normally and the outputs of the function are valid.
B	Done	BOOL	Set high when the commanded action has completed successfully. If another block takes control before the action is completed, the Done output will not be set. This output is reset when Execute goes low.
B	Busy	BOOL	Set high upon the rising edge of the Execute input, and reset when Done, CommandAborted, or Error is true. In the case of a function block with an Enable input, a Busy output indicates the function is operating, but not ready to provide Valid information. (No Error)
E	Active	BOOL	For buffered modes, this output is set high at the moment the block takes control of the axis. For non buffered modes, the outputs Busy and Active have the same value.
E	CommandAborted	BOOL	Set high if motion is aborted by another motion command or MC_Stop. This output is cleared with the same behavior as the Done output.
B	Error	BOOL	Set high if an error has occurred during the execution of the function block. This output is cleared when 'Execute' or 'Enable' goes low.
E	ErrorID	UINT	If Error is true, this output provides the Error ID. This output is reset when 'Execute' or 'Enable' goes low.

Notes

Setting Enable low will cause the group to stop jogging.
This block has a special combination of outputs (Valid & Done). The specified position is not necessarily reached when jogging, it just provides a direction for the group to travel. If the Enable input is help high long enough for the group to reach the Position specified, this function will become Done, and the group will no longer move.
For MotomanSync robot groups there are a few differences.

Minimum time the robot will jog is 100 mSec.
ACS is the only valid CoordSystem input.
LimitAccel, LimitDecel, and Limit Jerk inputs arenot supported. Jog acceleration, deceleration and jerk will specified by robot controller.

Error Description

See the Function Block ErrorID List.