You can move an axis group according to Cartesian coordinates in the axis space by means of the function block SMC_GroupJog.
When this function block is executed, the axis group follows the positions of the Cartesian axes (usually virtual) that are connected to SMC_JogGroup. To run the axis group in jogging mode, the Cartesian axes can be commanded in turn by MC_Jog, SMC_Inch, or other motion blocks. The specified position does not have to be near the current position of the axis group. Similar to PTP tracking, the axis group will try to reach the specified position as fast as possible.
The positions of the virtual axes can be interpreted in different ways depending on the set coordinate system (for example, Cartesian coordinates, machine coordinates, axis coordinates, or tool coordinates). With a special input ABC_as_ACS: BOOL (available in version 4.2.0.0 and later), X/Y/Z and the axes of the tool kinematics can be jogged simultaneously in Cartesian coordinates and axis coordinates, respectively. Mixed Cartesian jogging is supported only when the kinematics is coupled and the position kinematics implements the interface ISMPositionKinematics_Offset. (Otherwise the function block yields an error.)
Cartesian jogging starts when the SMC_GroupJog block receives a rising edge and sets the Busy output. Cartesian jogging mode causes the interruption of active coordinated motion or the motion of the axes of the kinematics. Cartesian jogging mode terminates when the tipping is interrupted by motion (coordinated or on the axes of the kinematics) or when the position is outside of the working space. In jogging mode, the axis limits are always maintained to the axes of the kinematics.
