MC_JOG

Function Description

The MC_JOG function is used to set the drive in Position mode if it is not already the case, and provide a direction and a speed command value. This function is accepted only if the State diagram is in STANDSTILL state.

This function allows:

Moving by position step or continuously (Lexium05, Lexium32, and Icla),
Moving out of the LimitSwitch (Lexium05 and Icla) in case of LimitSwitch detected error situation:
- When starting the movement in the appropriate direction, the axis state is commuted into homing state.
- In case of release of MC_Home before being out of the LimitSwitch, an errorID 8 appears. A MC_Reset command is necessary before doing another MC_JOG function.

Representation in FBD

Representation

Representation in LD

Representation

Representation in IL

Representation:

LD Slave

CAL MC_JOG_Instance(AXIS:=AXIS FORWARD:=FWRD, BACKWARD:=BWRD, FAST:=FST, STEPPOS:=STEPPOS, WAITTIME:=WAITTIME, VELOCITYSLOW:=VSLW, VELOCITYFAST:=VFST, ERROR=>ERR, BUSY=>B, COMMANDABORTED=>AB, ERRORID=>ERRID)

Representation in ST

Representation:

MC_JOG_Instance(AXIS:=AXIS FORWARD:=FWRD, BACKWARD:=BWRD, FAST:=FST, STEPPOS:=STEPPOS, WAITTIME:=WAITTIME, VELOCITYSLOW:=VSLW, VELOCITYFAST:=VFST, ERROR=>ERR, BUSY=>B, COMMANDABORTED=>AB, ERRORID=>ERRID));

Description of the Input Parameters

The following table describes the input parameters that are in addition to the basic parameters:

Parameter	Type	Comment
FORWARD	BOOL	Forward operating direction.
BACKWARD	BOOL	Backward operating direction.
FAST	BOOL	Jog speed selection.
STEPPOS	INT	Jogging path until continuous running.
WAITTIME	INT	Waiting period until continuous running.
VELOCITYSLOW	UDINT	Speed for slow movement. Must always be connected.
VELOCITYFAST	UDINT	Speed for fast movement. Must always be connected.

For Lexium15MP and Lexium 15HP, STEPPOS and WAITTIME inputs are not significant.

When both inputs are active, the block detects the mismatch and sets the value 10 as error code: Bad condition for Jog Direction.

For Lexium05 and Lexium32 STEPPOS and WAITTIME inputs:

Must be set,
Are sent by SDO,
Are not sent if the value is equal to -1. It signifies that update of this parameter is not required, and the MFB works with the actual value of these parameters already inside the drive.

The input FAST allows selecting between VELOCITYSLOW and VELOCITYFAST.

Function Behavior

Both inputs FORWARD/BACKWARD are edge active:

Rising edge makes the movement start,
Falling edge makes the movement stop.

Parameter Description for the Lexium 05

Group.Name Index:Subindex dec. (hex.)	Meaning Bit assignment	Units Range ?
FASTSPEED NFST	Speed for fast manual movement(8-16) The adjustment value is limited in internal on the actual parameter adjustment in RAMPn_max.	tr/min 1 180 13200
SLOWSPEED NSLW	Speed for slow manual movement(8-16) The adjustment value is limited in internal on the actual parameter adjustment in RAMPn_max.	tr/min 1 60 13200
STEPPOS	Jogging path with manual start before the continuous running 0: direct activation of continuous running >0: distance positioning by manual cycle	usr 0 20
WAITTIME	Waiting period until continuous running(8-16) Only effective if jogging path is set not equal to 0	ms 1 500 32767