F381_Positioning_Jog

JOG operation start

This instruction starts the JOG operation according to the parameters specified in the positioning memory (axis setting area). While the execution condition is valid, the JOG operation continues.

Input

s1_Channel (WORD, INT, UINT)

Channel number

Configurator PMX: SYS_PMX_CHANNEL_0–SYS_PMX_CHANNEL_3

Configurator PM7: SYS_PM7_AXIS_1–SYS_PM7_AXIS_8

s3_DirectionReverse (WORD, INT, UINT)

Direction:

0: forward
1: reverse

Remarks

If an operand is an out-of-range value, an operation error occurs.
The stop operation has priority when the conditions of system stop, emergency stop, limit stop and deceleration stop are satisfied.
An operation error occurs when the system register of a specified channel is other than Pulse output [Table operation].
A self-diagnostic error (positioning operation error) occurs when the set value or the value of the positioning memory (axis setting area) is abnormal.
The JOG operation needs to be stopped for switching between the forward rotation and reverse rotation.
In case of changing a speed, when the target speed after the change is an out-of-range value, the speed change is not executed and the operation continues.
The target speed can be changed by rewriting the positioning parameter area with a user program. The change is executed after it becomes a constant speed.

Error flags

sys_bIsOperationErrorHold (turns to TRUE and remains TRUE)

if the area specified using the index modifier exceeds the limit.
if a value specified for a parameter is outside the permissible range.
if Pulse output [Table operation] has not been set in the system register.

sys_bIsOperationErrorNonHold (turns to TRUE for one scan)

if the area specified using the index modifier exceeds the limit.
if a value specified for a parameter is outside the permissible range.
if Pulse output [Table operation] has not been set in the system register.

Example

POU header

All input and output variables used for programming this function have been declared in the POU header. The same POU header is used for all programming languages.

	VAR
		bExecuteJog: BOOL:=FALSE;
		iChannel0: INT:=0;
	END_VAR

POU body

When the variable bExecuteJog is set to TRUE, the function is carried out.

LD body

BODY
    WORKSPACE
        NETWORK_LIST_TYPE := NWTYPELD ;
        ACTIVE_NETWORK := 0 ;
    END_WORKSPACE
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 6 ;
        NETWORK_BODY
B(B_F,F381_Positioning_Jog!,,11,1,23,6,,?DEN?Ds1_Channel?Ds3_DirectionReverse?AENO);
B(B_CONTACT,,bExecuteJog,4,2,6,4,);
B(B_VARIN,,iChannel0,9,3,11,5,);
B(B_VARIN,,0,9,4,11,6,);
L(1,3,4,3);
L(6,3,11,3);
L(1,0,1,6);
        END_NETWORK_BODY
    END_NET_WORK
END_BODY

ST body

IF (bExecuteJog) then
    F381_Positioning_Jog(s1_Channel := iChannel0, s3_DirectionReverse := 0);
END_IF;