SPEL_Jog

Description

Jogs the robot.

Common Inputs and Outputs

Reference: Function Blocks Common Inputs and Outputs

Inputs

MaxTime

DINT The maximum execution time allowed.

JogMode

INT Desired jog mode.

• 0 = World

• 1 = Joint

Axis

INT Desired axis.

JogMode=0: 1=X axis, 2=Y axis, 3=Z axis, 4=U axis, 5=V axis, 6=W axis

JogMode=1: 1=Joint #1, 2=Joint #2, 3=Joint #3, 4=Joint #4, 5=Joint #5, 6=Joint #6

Distance

REAL Value:

When JogMode is World:

• X,Y,Z in mm.
• U,V,W in deg.

When JogMode is Joint:

• J1-J6 in deg.

Operation

Reference: Function Blocks General Operation

Example

To move robot in J1 in for 10 deg, enter values and run the Function Block as shown below.