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ID : 7437

MC_MoveJogTool

To operate a robot with Tool mode from TP panel.

Graphic expression AOI category
Motion

Input and Output Variable

Variable name Data type Valid range Conditions for Input and Output
AxesGroup eRC_AxesGroup -
Robot group
Specify a robot variable (structured type data : eRC_AxesGroup) of user-defined type.

Input Variable

Variable name Data type Valid range
X_Plus Boolean
  • TRUE : Start
  • FALSE : -
X-coordinate (+)
When this signal changes from FALSE to TRUE, a robot moves to the positive direction of X-coordinate.
Y_Plus Boolean
  • TRUE : Start
  • FALSE : -
Y-coordinate (+)
When this signal changes from FALSE to TRUE, a robot moves to the positive direction of Y-coordinate.
Z_Plus Boolean
  • TRUE : Start
  • FALSE : -
Z-coordinate (+)
When this signal changes from FALSE to TRUE, a robot moves to the positive direction of Z-coordinate.
RX_Plus Boolean
  • TRUE : Start
  • FALSE : -
RX-coordinate (+)
When this signal changes from FALSE to TRUE, a robot moves to the positive direction of RX-coordinate.
RY_Plus Boolean
  • TRUE : Start
  • FALSE : -
RY-coordinate (+)
When this signal changes from FALSE to TRUE, a robot moves to the positive direction of RY-coordinate.
RZ_Plus Boolean
  • TRUE : Start
  • FALSE : -
RZ-coordinate (+)
When this signal changes from FALSE to TRUE, a robot moves to the positive direction of RZ-coordinate.
X_Minus Boolean
  • TRUE : Start
  • FALSE : -
X-coordinate (-)
When this signal changes from FALSE to TRUE, a robot moves to the negative direction of X-coordinate.
Y_Minus Boolean
  • TRUE : Start
  • FALSE : -
Y-coordinate (-)
When this signal changes from FALSE to TRUE, a robot moves to the negative direction of Y-coordinate.
Z_Minus Boolean
  • TRUE : Start
  • FALSE : -
Z-coordinate (-)
When this signal changes from FALSE to TRUE, a robot moves to the negative direction of Z-coordinate.
RX_Minus Boolean
  • TRUE : Start
  • FALSE : -
RX-coordinate (-)
When this signal changes from FALSE to TRUE, a robot moves to the negative direction of RX-coordinate.
RY_Minus Boolean
  • TRUE : Start
  • FALSE : -
RY-coordinate (-)
When this signal changes from FALSE to TRUE, a robot moves to the negative direction of RY-coordinate.
RZ_Minus Boolean
  • TRUE : Start
  • FALSE : -
RZ-coordinate (-)
When this signal changes from FALSE to TRUE, a robot moves to the negative direction of RZ-coordinate.
Inching Boolean
  • TRUE : Enable
  • FALSE : Disable
Inching mode setting
When this signal changes from FALSE to TRUE, inching mode is enabled.
Axis_InchingResolution Real 0.0001 to 0.1
Set moving angle of each Joint in inching mode.
Set moving angle of each Joint in inching mode. Unit is degree.
XY_InchingResolution Real 0.01 to 1
Set moving distance for XY/Tool in inching mode.
Set moving distance for XY/Tool in inching mode. Unit is millimeter.
PostureControl Boolean
  • TRUE : Enable
  • FALSE : Disable
Posture Control
Choose enable(on) or disable(off) of posture control. In the vicinity of the singular point, it is recommended to choose off for ease of use.

Output Variable

Variable name Data type / Description
Status Boolean
JOG motion state
TRUE : Jogging state
FALSE : Not jogging state
Error Boolean
Error presence
TRUE: This AOI ended abnormally.
FALSE : This AOI ended successfully.
ErrorID Integer
Error location
2800 : The error occurred in the PLC program.
2801 : The error occurred in the robot controller.
ErrorIDEx DInt
Error Code
This is a number to identify the error description.
For details, refer to "Error code list".

Function Description

The following figure shows the robot motion in Tool mode.

6-axis robot 4-axis robot
Drives the robot flange linearly along the X-, Y-, and Z-axes of the flange face. Drives the robot flange linearly along the Cartesian coordinates of the 4th axis.

Note 1: This figure shows the tool coordinate system when Tool0 is selected. This coordinate system is called mechanical interface coordinate system.

Attention

To execute this AOI, AOI with the AOI category "Motion" needs to be made executable.
To make AOI with the AOI category "Motion" executable, use the AOI "MC_Power".

ID : 7437

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