FB_Jogging - General Information

Overview

Type:	Function block
Available as of:	V1.0.3.0
Inherits from:	-
Implements:	-
Versions:	Current version

Task

Jogging an axis

Description

The axis is moved to the BOOL inputs i_xJogForw and i_xJogBack in jogging mode.

Thereby the following applies:

oi_xEndless = TRUE: It will run forward (positive counting direction) or backwards (negative counting direction) as long as the input variable i_xJogForw or i_xJogBack = "TRUE".

oi_xEndless = FALSE: It will run forward (positive counting direction) or backwards (negative counting direction) as long as the input variable i_xJogForw or i_xJogBack = "TRUE" and the distance specified in the input variable i_IrMaxDistance has not moved yet.

For the direction specification the following applies:

oi_xJogForw = FALSE and i_xJogBack = FALSE, one of the signals becomes TRUE -> It starts in the direction that is specified with TRUE.

oOne of the signals i_xJogForw or i_xJogBack is TRUE, the other one becomes TRUE -> also, and the motion direction is retained.

oBoth signals i_xJogForw or i_xJogBack are TRUE, one becomes FALSE -> Afterwards it moves in the direction that remains TRUE.

Depending on the condition of the signals i_xJogForw or i_xJogBack a direction change from the condition 'both signals TRUE' or 'both signals FALSE' is possible.

Interface

Input	Data type	Description
i_xEnable	BOOL	A rising edge FALSE -> TRUE activates the POU, a falling edge TRUE -> FALSE deactivates the POU. A deactivated POU does not execute any actions.
i_ifDrive	IF_Drive	Input for the axis that shall be controlled.
i_xJogForw	BOOL	Jogging mode „forward“ (positive)
i_xJogBack	BOOL	Jogging mode „backwards“ (negative)
i_lrPeriod	LREAL	With a value of <> 0, the position is kept within the period value (0 … i_lrPeriod). If a period value is too high or two low, the position is manipulated by the period value. Only positive values are valid.
i_xEndless	BOOL	TRUE: The axis can be moved endlessly in both directions. FALSE: Jogging mode active, taking into account the maximum distance in i_lrMaxDistance.
i_lrMaxDistance	LREAL	Maximum jogging mode travel distance if i_xEndless = FALSE.
i_lrVel	LREAL	Velocity (change of position) in units/s. Value changes are taken over by restarting via i_xJogForw or i_xJogBack.
i_lrAcc	LREAL	Acceleration (change of velocity) in units/s². Value changes are taken over by restarting via i_xJogForw or i_xJogBack.
i_lrDec	LREAL	Deceleration (change of velocity) in units/s². Value changes are taken over by restarting via i_xJogForw or i_xJogBack.
i_lrJerk	LREAL	Jerk (change of acceleration/deceleration) in units/s³. Value changes are taken over by restarting via i_xJogForw or i_xJogBack.

Output	Data type	Description
q_xActive	BOOL	TRUE: The POU is active and has to be executed further. FALSE: The POU is inactive.
q_xReady	BOOL	TRUE: The POU is ready to operate and can accept user commands. FALSE: The POU is not ready to accept user commands.
q_etDiag	GD.ET_Diag	General library-independent statement on the diagnostic. A value not equal to ET_Diag.Ok corresponds to an diagnostic message.
q_etDiagExt	ET_DiagExt	POU-specific output on the diagnostic. q_etDiag = ET_Diag.Ok -> Status message q_etDiag <> ET_Diag.Ok -> Diagnostic message
q_sMsg	STRING[80]	Event-triggered message which gives more detailed information on the diagnostic state.
q_xMotionInstructionActive	BOOL	TRUE: The axis is processing a motion command. The output is also set if the motion command defines that the axis is at stand still.
q_xStepFinished	BOOL	TRUE: The maximum distance i_lrMaxDistance has been traveled.
q_lrPosition	LREAL	Position (RefPosition) of the axis.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Disabled	9	The POU is disabled.
OK	Initializing	4	The POU is being initialized.
OK	JoggingBackward	237	Jogging mode Backward
OK	JoggingForward	236	Jogging mode Forward
OK	WaitForJogging	234	Waiting for signal to start jogging mode.
OK	WaitForJoggingInputsLow	233	Waiting for the jogging mode signal to be taken back.
OK	WaitUntilDisabled	8	Waiting until the POU is deactivated.
OK	WaitUntilStopped	159	Waiting until the drive has stopped.
DriveConditionInvalid	DriveNotReady	10	The drive is not ready for motion commands.
InputParameterInvalid	AccRange	12	Acc is outside the valid range.
InputParameterInvalid	DecRange	13	Dec is outside the valid range.
InputParameterInvalid	DriveInvalid	3	The connected drive is invalid.
InputParameterInvalid	JerkRange	14	Jerk is outside the valid range.
InputParameterInvalid	MaxDistanceRange	235	MaxDistance is outside the valid range.
InputParameterInvalid	PeriodRange	201	Period is outside the valid range.
SercosConditionInvalid	SercosNotInPhaseFour	19	The Sercos bus is not in phase 4.
UnexpectedProgramBehavior	UnexpectedFeedback	1	An unintended detected error occurred during execution.
UnexpectedProgramBehavior	UnknownState	2	The POU is in an undefined state.

AccRange

Enumeration name:	AccRange
Enumeration value:	12
Description:	Acc is outside the valid range.

Issue	Cause	Solution
-	At the input i_lrAcc, an invalid value has been transferred.	The following must hold: 0 < i_lrAcc < drive parameter MaxAcc For the valid value range for i_lrAcc, see output q_sMsg

Issue

Cause

Solution

At the input i_lrAcc, an invalid value has been transferred.

The following must hold: 0 < i_lrAcc < drive parameter MaxAcc

For the valid value range for i_lrAcc, see output q_sMsg

DecRange

Enumeration name:	DecRange
Enumeration value:	13
Description:	Dec is outside the valid range.

Issue	Cause	Solution
-	At the input i_lrDec, an invalid value has been transferred.	The following must hold: 0 < i_lrDec < drive parameter MaxAcc For the valid value range for i_lrDec, see output q_sMsg

Issue

Cause

Solution

At the input i_lrDec, an invalid value has been transferred.

The following must hold: 0 < i_lrDec < drive parameter MaxAcc

For the valid value range for i_lrDec, see output q_sMsg

Disabled

Enumeration name:	Disabled
Enumeration value:	9
Description:	The POU is disabled.

The function block is disabled and executes no actions whatsoever. i_xEnable and q_xActive are set to FALSE

DriveInvalid

Enumeration name:	DriveInvalid
Enumeration value:	3
Description:	The connected drive is invalid.

Issue	Cause	Solution
-	At the input i_ifDrive, no drive was applied.	At the input i_ifDrive, a valid drive must be transferred.
-	The connected drive does not support all required functionalities.	Establish which functionalities are not supported by the drive by means of output q_sMsg. Use a drive which supports all required functionalities.

Issue

Cause

Solution

At the input i_ifDrive, no drive was applied.

At the input i_ifDrive, a valid drive must be transferred.

The connected drive does not support all required functionalities.

Establish which functionalities are not supported by the drive by means of output q_sMsg.

Use a drive which supports all required functionalities.

DriveNotReady

Enumeration name:	DriveNotReady
Enumeration value:	10
Description:	The drive is not ready for motion commands.

Issue	Cause	Solution
-	The axis is not in position control.	Verify the state of the axis.

Initializing

Enumeration name:	Initializing
Enumeration value:	4
Description:	The POU is being initialized.

The function block is being initialized and thus is not yet ready to receive commands at its inputs.

The function block will signalize that it is ready for operation with the signal q_xReady = TRUE.

JerkRange

Enumeration name:	JerkRange
Enumeration value:	14
Description:	Jerk is outside the valid range.

Issue	Cause	Solution
-	At the input i_lrJerk, an invalid value has been applied.	At the input i_lrJerk, a value greater than 0 and smaller than or equal to Gc_lrMaxJerk must be transferred.

JoggingBackward

Enumeration name:	JoggingBackward
Enumeration value:	237
Description:	Jogging mode Backward

The axis is moving backwards.

JoggingForward

Enumeration name:	JoggingForward
Enumeration value:	236
Description:	Jogging mode Forward

The axis is moving forwards.

MaxDistanceRange

Enumeration name:	MaxDistanceRange
Enumeration value:	235
Description:	MaxDistance is outside the valid range.

Issue	Cause	Solution
-	At the input i_lrMaxDistance, an invalid value has been applied.	At the input i_lrMaxDistance, a value greater than or equal to 0 must be transferred.

PeriodRange

Enumeration name:	PeriodRange
Enumeration value:	201
Description:	Period is outside the valid range.

Issue	Cause	Solution
-	At the input i_lrPeriod, a negative value has been applied.	At the input i_lrPeriod, a value greater than 0 must be transferred.

SercosNotInPhaseFour

Enumeration name:	SercosNotInPhaseFour
Enumeration value:	19
Description:	The Sercos bus is not in phase 4.

Issue	Cause	Solution
-	The parameter State of the SERCOS bus is not 4.	Set the SERCOS bus parameter PhaseSet to 4. Verify the SERCOS bus for errors.

Issue

Cause

Solution

The parameter State of the SERCOS bus is not 4.

Set the SERCOS bus parameter PhaseSet to 4.

Verify the SERCOS bus for errors.

UnexpectedFeedback

Enumeration name:	UnexpectedFeedback
Enumeration value:	1
Description:	An unintended detected error occurred during execution.

Issue	Cause	Solution
-	An error occurred in the internal execution.	Please inform the support team about this error.

UnknownState

Enumeration name:	UnknownState
Enumeration value:	2
Description:	The POU is in an undefined state.

Issue	Cause	Solution
-	An error occurred in the internal execution.	Please inform the support team about this error.

WaitForJogging

Enumeration name:	WaitForJogging
Enumeration value:	234
Description:	Waiting for signal to start jogging mode.

The function block is ready to process start signals for jogging mode.

WaitForJoggingInputsLow

Enumeration name:	WaitForJoggingInputsLow
Enumeration value:	233
Description:	Waiting for the jogging mode signal to be taken back.

The inputs i_xJogForw and i_xJogBack both must be FALSE before processing can be continued.

WaitUntilDisabled

Enumeration name:	WaitUntilDisabled
Enumeration value:	8
Description:	Waiting until the POU is deactivated.

The function block is disabled. All internal states are reset and connected resources (e.g. axes) are transferred to a safe state. The function block has to be called up continuously until it reports q_xActive = FALSE.

WaitUntilStopped

Enumeration name:	WaitUntilStopped
Enumeration value:	159
Description:	Waiting until the drive has stopped.

The axis is stopped.

Methods

Name	Description
RegisterLoggerPoint	Registering the logger points of the POU in the Application Logger