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ID : 3145

MC_MoveJogJoint

To operate a robot with Joint mode from TP panel.

Graphic expression FB No. FB category
FB2013 Motion

Input parameter

Parameter name Data type Valid range Default Omission (*)
AxesGroup Integer 1 or larger 1 No
Robot number
Specify an element number for the variable "Robots[n]" (variable in the data block "DB_DENSO_ROBOTS (DB2990)") mapped to the controlled robot (robot controller).
If a specified value exceeds the valid range, the CPU (PLC) stops.

The maximum valid range value is the maximum element number of the variable "Robots[n]". The default maximum element number is 10 but can be increased or decreased by the user.
Axis1_Plus Boolean
  • True : Start
  • False : -
 False Yes
1st-axis (+)
When this signal changes from False to True, the 1st-axis of robot moves to the positive direction.
Axis2_Plus Boolean
  • True : Start
  • False : -
 False Yes
2nd-axis (+)
When this signal changes from False to True, the 2nd-axis of robot moves to the positive direction.
Axis3_Plus Boolean
  • True : Start
  • False : -
 False Yes
3rd-axis (+)
When this signal changes from False to True, the 3rd-axis of robot moves to the positive direction.
Axis4_Plus Boolean
  • True : Start
  • False : -
 False Yes
4th-axis (+)
When this signal changes from False to True, the 4th-axis of robot moves to the positive direction.
Axis5_Plus Boolean
  • True : Start
  • False : -
 False Yes
5th-axis (+)
When this signal changes from False to True, the 5th-axis of robot moves to the positive direction.
Axis6_Plus Boolean
  • True : Start
  • False : -
 False Yes
6th-axis (+)
When this signal changes from False to True, the 6th-axis of robot moves to the positive direction.
Axis7_Plus Boolean
  • True : Start
  • False : -
 False Yes
7th-axis (+)
When this signal changes from False to True, the 7th-axis of robot moves to the positive direction.
Axis8_Plus Boolean
  • True : Start
  • False : -
 False Yes
8th-axis (+)
When this signal changes from False to True, the 8th-axis of robot moves to the positive direction.
Axis1_Minus Boolean
  • True : Start
  • False : -
 False Yes
1st-axis (-)
When this signal changes from False to True, the 1st-axis of robot moves to the negative direction.
Axis2_Minus Boolean
  • True : Start
  • False : -
 False Yes
2nd-axis (-)
When this signal changes from False to True, the 2nd-axis of robot moves to the negative direction.
Axis3_Minus Boolean
  • True : Start
  • False : -
 False Yes
3rd-axis (-)
When this signal changes from False to True, the 3rd-axis of robot moves to the negative direction.
Axis4_Minus Boolean
  • True : Start
  • False : -
 False Yes
4th-axis (-)
When this signal changes from False to True, the 4th-axis of robot moves to the negative direction.
Axis5_Minus Boolean
  • True : Start
  • False : -
 False Yes
5th-axis (-)
When this signal changes from False to True, the 5th-axis of robot moves to the negative direction.
Axis6_Minus Boolean
  • True : Start
  • False : -
 False Yes
6th-axis (-)
When this signal changes from False to True, the 6th-axis of robot moves to the negative direction.
Axis7_Minus Boolean
  • True : Start
  • False : -
 False Yes
7th-axis (-)
When this signal changes from False to True, the 7th-axis of robot moves to the negative direction.
Axis8_Minus Boolean
  • True : Start
  • False : -
 False Yes
8th-axis (-)
When this signal changes from False to True, the 8th-axis of robot moves to the negative direction.
Inching Boolean
  • True : Enable
  • False : Disable
 False Yes
Inching mode setting
When this signal changes from False to True, inching mode is enabled.
Axis_InchingResolution Real 0.0001 to 0.1 0.0004 Yes
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 0.01 Yes
Set moving distance for XY/Tool in inching mode.
Set moving distance for XY/Tool in inching mode. Unit is millimeter.

(*) : For some parameters, entries can be omitted.

  • Yes : Entry can be omitted.
  • No : Entry required always.

Output parameter

Parameter name Data type / Description
Status Boolean
JOG motion state
True : Jogging state 
False : Not jogging state
Error Boolean
Error presence
True : This FB ended abnormally.
False : This FB ended successfully.
ErrorID Word
Error location
2800 (hexadecimal) : The error occurred in the PLC program.
2801 (hexadecimal) : The error occurred in the robot controller.
ErrorIDEx DWord
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 Joint mode.

6-axis robot 4-axis robot
Drives each of the six Joints independently. Drives each of the four Joints independently.

Attention

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

ID : 3145

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