FB_CobotController - JogStart (Method)

Overview

Type:	Method
Available as of:	V1.0.1.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

The function block is used to start a jog movement of the Lexium Cobot.

Description

This method is used to start a jog movement of a single component of the Lexium Cobot, in joint as well as in cartesian space.

In joint space a single component consists of Joint1 up to Joint6.

In cartesian space a single component consists of PositionX, PositionY, PositionZ and OrientationX, OrientationY, OrientationZ.

In case Absolute or Relative is selected as jog mode, the positive and negative direction of the movement is reflected by the positive or negative value of the input i_lrPosition.

In case Continuous is selected as jog mode, the positive and negative direction of the movement is reflected by the positive or negative value of the input i_lrSpeed.

A jog movement can be executed either as continuous, absolute, or relative movement.

Only one jog movement can be executed and active at the same time.

Preconditions to execute this command:

The control source of the Lexium Cobot must be Remote. For further information, refer to the method GetControlSource(Method).
The execution of the running program must be stopped. For further information, refer to the method StopRobotMovement().
A protective stop must be released. FB_CobotControllerFeedback.rstData.xProtectiveStop reports the value FALSE.
A collision detection message must be reset. For further information, refer to the method ClearFault().
The Lexium Cobot must not be in hand-guide mode. FB_CobotControllerFeedback.rstData.etMode must not report the value ET_Mode.Drag.

Result of this command:

The Lexium Cobot controller is executing the requested jog movement. FB_CobotControllerFeedback.rstData.etMode reports the value ET_Mode.Manual.

The sent command is acknowledged by the Lexium Cobot control either as successful or as unsuccessful.

A successful command is reported by the property xCommandAcknowledged.
An unsuccessful command is reported by the property xCommandFailed. For detailed information verify the diagnostic outputs of the function block and the log data of FB_CobotControllerFeedback.rstData.stLogData.

Interface

Input	Data type	Description
i_etCoordinateFrame	ET_CoordinateFrame	Specifies the coordinate frame in which a jog movement should be started. Valid values are: ET_CoordinateFrame.World ET_CoordinateFrame.Joint ET_CoordinateFrame.Tool
i_etComponent	ET_Component	Specifies the component on which a jog movement should be started. Valid values are: ET_Component.Joint1..Joint6 ET_Component.X..Z ET_Component.RX..RZ
i_etMode	ET_JogMode	Specifies the mode in which the jog movement should be started. Valid values are: ET_JogMode.Continuous ET_JogMode.Absolute ET_JogMode.Relative
i_lrPosition	LREAL	Specifies the position to which the jog movement is targeted. The interpretation depends on the selected jog mode. The value 0.0 must be transferred in case Continuous is selected as jog mode. In case World or Tool is selected as coordinate frame. Unit: [mm] In case Joint is selected as coordinate frame. Unit: [°]
i_lrSpeed	LREAL	Specifies the speed in which the jog movement is executed. In case World or Tool is selected as coordinate frame. Unit: [mm/s²] In case Joint is selected as coordinate frame. Unit: [°/s²] In case Continuous is selected as jog mode. Value range: i_lrSpeed <> 0.0 In case Absolute or Relative is selected as jog mode. Value range: i_lrSpeed > 0.0

Output	Data type	Description
q_xError	BOOL	Value is TRUE if an error was detected. For details, refer to q_etResult and q_sResultMsg.
q_etResult	ET_Result	Provides diagnostic and status information as a numeric value. If q_xError = FALSE, q_etResult provides status information. If q_xError = TRUE, q_etResult provides diagnostic/error information.
q_sResultMsg	STRING[80]	Provides additional diagnostic and status information as a text value.

Output

Data type

Description

q_xError

BOOL

Value is TRUE if an error was detected. For details, refer to q_etResult and q_sResultMsg.

q_etResult

ET_Result

Provides diagnostic and status information as a numeric value.

If q_xError = FALSE, q_etResult provides status information. If q_xError = TRUE, q_etResult provides diagnostic/error information.

q_sResultMsg

STRING[80]

Provides additional diagnostic and status information as a text value.

Diagnostic Messages

q_xError	q_etResult	Enumeration value	Description
FALSE	Ok	0	The method was called successfully.
TRUE	ComponentInvalid	25	The component is invalid.
TRUE	CommandNotAcknowledged	7	The command is not acknowledged.
TRUE	Disabled	1	The function block is disabled.
TRUE	NotConnected	5	A connection to a Lexium Cobot controller is not established.
TRUE	NotReady	4	The function block is not ready to perform commands.
TRUE	PositionRange	24	The position is out of range.
TRUE	SpeedRange	26	The speed is out of range.

CommandNotAcknowledged

Enumeration name:	CommandNotAcknowledged
Enumeration value:	7
Description:	The command is not acknowledged.

Issue	Cause	Solution
The method was not called successfully.	The previous triggered command is not acknowledged yet. The property xCommandAcknowledged reports the value FALSE.	Ensure that the property xCommandAcknowledged reports the value TRUE before calling a new command.

Issue

Cause

Solution

The method was not called successfully.

The previous triggered command is not acknowledged yet.

The property xCommandAcknowledged reports the value FALSE.

Ensure that the property xCommandAcknowledged reports the value TRUE before calling a new command.

ComponentInvalid

Enumeration name:	ComponentInvalid
Enumeration value:	25
Description:	The component is invalid.

Issue	Cause	Solution
The method was not called successfully.	The value transferred at the input i_etComponent is invalid. At the input i_etCoordinateFrame the value ET_CoordinateFrame.Joint was transferred.	Ensure that at the input i_etComponent the value ET_Component.Joint1..Joint6 is transferred.
The value transferred at the input i_etComponent is invalid. At the input i_etCoordinateFrame the value ET_CoordinateFrame.World or ET_CoordinateFrame.Tool was transferred.	Ensure that at the input i_etComponent the value ET_Component.X..Z or ET_Component.RX..RZ is transferred.

Issue

Cause

Solution

The method was not called successfully.

The value transferred at the input i_etComponent is invalid.

At the input i_etCoordinateFrame the value ET_CoordinateFrame.Joint was transferred.

Ensure that at the input i_etComponent the value ET_Component.Joint1..Joint6 is transferred.

The value transferred at the input i_etComponent is invalid.

At the input i_etCoordinateFrame the value ET_CoordinateFrame.World or ET_CoordinateFrame.Tool was transferred.

Ensure that at the input i_etComponent the value ET_Component.X..Z or ET_Component.RX..RZ is transferred.

Disabled

Enumeration name:	Disabled
Enumeration value:	1
Description:	The function block is disabled.

Issue	Cause	Solution
The method was not called successfully.	The function block is disabled. A disabled function block does not execute any actions and all outputs are set to the default value.	Ensure that the function block is enabled. Enable the function block by setting the input i_xEnable to TRUE. The function block will report TRUE at its outputs q_xActive and q_xReady after the enable routine is successfully finished.

Issue

Cause

Solution

The method was not called successfully.

The function block is disabled.

A disabled function block does not execute any actions and all outputs are set to the default value.

Ensure that the function block is enabled.

Enable the function block by setting the input i_xEnable to TRUE. The function block will report TRUE at its outputs q_xActive and q_xReady after the enable routine is successfully finished.

NotConnected

Enumeration name:	NotConnected
Enumeration value:	5
Description:	A connection to a Lexium Cobot controller is not established.

Issue	Cause	Solution
The method was not called successfully.	A connection to a Lexium Cobot controller is not established. The property etConnectionState does not report the value ET_ConnectionState.Connected.	Ensure that a connection to a Lexium Cobot controller is established. To establish a connection to a Lexium Cobot controller call the method Connect or ConnectTLS.

Issue

Cause

Solution

The method was not called successfully.

A connection to a Lexium Cobot controller is not established.

The property etConnectionState does not report the value ET_ConnectionState.Connected.

Ensure that a connection to a Lexium Cobot controller is established.

To establish a connection to a Lexium Cobot controller call the method Connect or ConnectTLS.

NotReady

Enumeration name:	NotReady
Enumeration value:	4
Description:	The function block is not ready to perform commands.

Issue	Cause	Solution
The method was not called successfully.	The function block reports FALSE at the output q_xReady because a detected error is reported. In case a sent command was acknowledged by the Lexium Cobot controller with a detected error, the property xCommandFailed reports the value TRUE in addition.	Verify the diagnostic outputs of the function block and solve the root cause of the detected error. A rising edge at the input i_xErrorQuit will reset the detected error.

Issue

Cause

Solution

The method was not called successfully.

The function block reports FALSE at the output q_xReady because a detected error is reported.

In case a sent command was acknowledged by the Lexium Cobot controller with a detected error, the property xCommandFailed reports the value TRUE in addition.

Verify the diagnostic outputs of the function block and solve the root cause of the detected error.

A rising edge at the input i_xErrorQuit will reset the detected error.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	The method was called successfully.

PositionRange

Enumeration name:	PositionRange
Enumeration value:	24
Description:	The position is out of range.

Issue	Cause	Solution
The method was not called successfully.	The value transferred at the input i_lrPosition is not within the valid range.	At the input i_lrPosition, a value equal to 0.0 must be transferred.
	At the input i_etMode the value ET_JogMode.Continuous was transferred.
	At the input i_etMode the value ET_JogMode.Relative was transferred.

SpeedRange

Enumeration name:	SpeedRange
Enumeration value:	26
Description:	The speed is out of range.

Issue	Cause	Solution
The method was not called successfully.	The value transferred at the input i_lrSpeed is not within the valid range. At the input i_lrMode the value ET_JogMode.Continuous was transferred.	At the input i_lrSpeed, a value greater than or less than 0.0 must be transferred.
The value transferred at the input i_lrSpeed is not within the valid range. At the input i_lrMode the value ET_JogMode.Absolute or ET_JogMode.Relative was transferred.	At the input i_lrSpeed, a value greater than 0.0 must be transferred.

Issue

Cause

Solution

The method was not called successfully.

The value transferred at the input i_lrSpeed is not within the valid range.

At the input i_lrMode the value ET_JogMode.Continuous was transferred.

At the input i_lrSpeed, a value greater than or less than 0.0 must be transferred.

The value transferred at the input i_lrSpeed is not within the valid range.

At the input i_lrMode the value ET_JogMode.Absolute or ET_JogMode.Relative was transferred.

At the input i_lrSpeed, a value greater than 0.0 must be transferred.