IF_RobotJogging - General Information

Overview

Type:	Interface
Available as of:	V1.0.0.0
Inherits from:	-

This chapter provides information on:

oTask

oDescription

oMethods

oProperties

Task

Interface for a manual motion of the robot.

Description

With this interface, the motion parameters for a jogging motion and the jogging motions themselves can be started and stopped again.

Methods

Name	Description
AdvanceToNextConnectedPath	Advancing to the next connected path.
GetMotionParameter	Reading the jogging motion parameters.
SetMaxAcceleration	Setting the maximum jogging acceleration.
SetMaxDeceleration	Setting the maximum jogging deceleration.
SetMaxVelocity	Setting the maximum jogging velocity.
SetMotionParameter	Setting the jogging motion parameters.
SetRamp	Setting the ramp.
Start	Starting a jogging motion.
Stop	Stopping a jogging motion.

Properties

Name	Data type	Accessing	Description
raxJogAuxAxPossible	ARRAY [ET_RobotComponent.AuxAx1 .. ET_RobotComponent.AuxAxAll+Gc_udiMaxNumAuxiliaryAxes] OF BOOL	Read	TRUE: A jogging motion of the auxiliary axis[x] is possible. FALSE: No jogging motion of the auxiliary axis[x] is possible.
raxJogBackAuxAx	ARRAY [ET_RobotComponent.AuxAx1 .. ET_RobotComponent.AuxAxAll+Gc_udiMaxNumAuxiliaryAxes] OF BOOL	Read	TRUE: A jogging motion in backward direction of the auxiliary axis[x] is active. FALSE: No jogging motion in backward direction of the auxiliary axis[x] is active.
raxJogBackCartesian	ARRAY [ET_RobotComponent.CartesianX .. ET_RobotComponent.CartesianZ] OF BOOL	Read	TRUE: A jogging motion in backward direction along the Cartesian direction [x] of the robot coordinate system is active. FALSE: No jogging motion in backward direction along the Cartesian direction [x] of the robot coordinate system is active.
raxJogCartesianPossible	ARRAY [ET_RobotComponent.CartesianX .. ET_RobotComponent.CartesianZ] OF BOOL	Read	TRUE: A jogging motion along the Cartesian direction [x] of the robot coordinate system is possible. FALSE: No jogging motion along the Cartesian direction [x] of the robot coordinate system is possible.
raxJogForwAuxAx	ARRAY [ET_RobotComponent.AuxAx1 .. ET_RobotComponent.AuxAxAll+Gc_udiMaxNumAuxiliaryAxes] OF BOOL	Read	TRUE: A jogging motion in forward direction of the auxiliary axis[x] is active. FALSE: No jogging motion in forward direction of the auxiliary axis[x] is active.
raxJogForwCartesian	ARRAY [ET_RobotComponent.CartesianX .. ET_RobotComponent.CartesianZ] OF BOOL	Read	TRUE: A jogging motion in forward direction along the Cartesian direction [x] of the robot coordinate system is active. FALSE: No jogging motion in forward direction along the Cartesian direction [x] of the robot coordinate system is active.
xJogBackPath	BOOL	Read	TRUE: A jogging motion in backward direction along the connected path is active. FALSE: No jogging motion in backward direction along the connected path is active.
xJogForwPath	BOOL	Read	TRUE: A jogging motion in forward direction along the connected path is active. FALSE: No jogging motion in forward direction along the connected path is active.
xJogPathPossible	BOOL	Read	TRUE: A jogging motion along the connected path is possible. FALSE: No jogging motion along the connected path is possible.
raxJogOrientationPossible	REFERENCE TO ARRAY [ET_RobotComponent.OrientationX .. ET_RobotComponent.OrientationAll + Gc_udiMaxNumberOfOrientations] OF BOOL	Read	TRUE: A jogging motion of the orientation[x] is possible. FALSE: No jogging motion of the orientation[x] is possible.
raxJogBackOrientation		Read	TRUE: A jogging motion in backward direction of the orientation[x] is active. FALSE: No jogging motion in backward direction of the orientation[x] is active.
raxJogForwOrientation		Read	TRUE: A jogging motion in forward direction of the orientation[x] is active. FALSE: No jogging motion in forward direction of the orientation[x] is active.