IN
Variable name | Description |
|---|---|
usiMotionSet | Data type: USINT |
Motion parameter set for jog mode when using the "Joint" or "Base" coordinate system. | |
usiMotionSet_Axes | Data type: USINT |
Motion parameter set for jog mode when using the "Axis" coordinate system. |
Kinematics
Variable name | Description |
|---|---|
axPositive[1..6] | Data type: ARRAY [1..6] OF BOOL |
Jog in a positive direction of the respective axis of the reference coordinate system (Jog.IN.Kinematic.eCoordinateSystem). | |
axNegative[1..6] | Data type: ARRAY [1..6] OF BOOL |
Jog in a negative direction of the respective axis of the reference coordinate system (Jog.IN.Kinematic.eCoordinateSystem). | |
alrVelocityPercent[1..6] | Data type: ARRAY [1..6] OF LREAL |
Jog speed scaling in percent of the respective axis of the reference coordinate system (Jog.IN.Kinematic.eCoordinateSystem). | |
eCoordinateSystem | Data type: E_COORDSYS |
Reference coordinate system in which jogging takes place. Currently supported: Joint axes (Joint), Cartesian axes of the base coordinate system (Base), and single axes (Axis). Namespace: SEW_MK_Robotics.SEW_IRobMoCPub |
Additional
Variable name | Description |
|---|---|
axPositive | Data type: ARRAY[1..10] OF BOOL |
Jog in the positive direction of the additional axis (single axis when "Axis" is selected in Jog.IN.Kinematic.eCoordinateSystem, otherwise joint axis) | |
axNegative | Data type: ARRAY[1..10] OF BOOL |
Jog in negative direction of the additional axis (single axis with "Axis" setting in Jog.IN.Kinematic.eCoordinateSystem, otherwise joint axis) | |
alrVelocityPercent | Data type: ARRAY [1..10] OF LREAL |
Percentage scaling of the jog speed of the additional axis |
