Y_GroupJogLinear

This function block will jog a group toward a specified n dimensional Position in the specified CoordSystem. If used with a Mechatrolink group, the TCP will move at the Velocity, Acceleration, Deceleration and Jerk specified by the function block inputs. If used with an MotomanSync robot group, the TCP will use acceleration, deceleration and jerk values which are preset in the robot controller for the configured robot. The Position provided will guide the vector of the TCP, but is not necessarily a final target. When the Enable input goes low, the group will stop jogging.

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	Refer to the Hardware Configuration's group definition chart which shows the Index for each of the axes in the group.	Array of LREAL#0.0
E	Velocity	LREAL	Velocity in degrees/sec.	LREAL#0.0
E	Acceleration	LREAL	Acceleration in degrees/sec.	LREAL#0.0
E	Deceleration	LREAL	Deceleration in degrees/sec.	LREAL#0.0
E	Jerk	LREAL	Not supported; reserved for future use. Value of the jerk in [user units / second^3].	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
E	BufferMode	MC_BufferMode	Defines the behavior of the axis - allowable modes are Aborting, Buffered, BlendingLow, BlendingPrevious, BlendingNext, and BlendingHigh. MC_BufferMode#Aborting MC_BufferMode#Buffered MC_BufferMode#BlendingLow MC_BufferMode#BlendingPrevious MC_BufferMode#BlendingNext MC_BufferMode#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.
E	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 held 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, the minimum time the group will jog is 100 mSec.
If there is any offset between WCS and MCS, this function block does not support jogging in MCS.

Error Description

See the Function Block ErrorID List.