The MC_MoveJog instruction jogs an axis according to the specified target velocity.
Instruction Name FB/
FUN Graphic expression ST expression
MC_MoveJog Jog FB MC_MoveJog_instance
Deceleration
Axis Axis
PositiveEnable Busy
NegativeEnable
Acceleration
Error ErrorID CommandAborted MC_MoveJog
Velocity
MC_MoveJog_instance ( Axis :=parameter,
PositiveEnable :=parameter, NegativeEnable :=parameter, Velocity :=parameter, Acceleration :=parameter, Deceleration :=parameter, Busy =>parameter,
CommandAborted =>parameter, Error =>parameter,
ErrorID =>parameter );
Variables
Input Variables
Name Meaning Data
type Valid range Default Description
PositiveEnable Positive Direc-tion Enable
BOOL TRUE or
FALSE
FALSE When this variable changes to TRUE, the axis starts moving in the positive direction.
When it changes to FALSE, the axis stops mov-ing.
NegativeEnable Negative Direc-tion Enable
BOOL TRUE or
FALSE
FALSE When this variable changes to TRUE, the axis starts moving in the negative direction.
When it changes to FALSE, the axis stops mov-ing.
Velocity Target Velocity LREAL Non-negative number
0 Specify the target velocity.
The unit is command units/s.*1 Acceleration Acceleration
Rate
LREAL Non-negative number
0 Specify the acceleration rate.
The unit is command units/s2.*1 Deceleration Deceleration
Rate
LREAL Non-negative number
0 Specify the deceleration rate.
The unit is command units/s2.*1
*1. Refer to Unit Conversion Settings in the NJ/NX-series CPU Unit Motion Control User’s Manual (Cat. No. W507) for information on command units.
Output Variables
Name Meaning Data
type
Valid
range Description
Name Meaning Data type
Valid
range Description
CommandAborted Command Aborted
BOOL TRUE or
FALSE
TRUE when the instruction is aborted.
Error Error BOOL TRUE or
FALSE
TRUE while there is an error.
ErrorID Error Code WORD *1 Contains the error code when an error occurs.
A value of 16#0000 indicates normal execution.
*1. The upper four digits of the event code give the error code for ErrorID. Refer to the NJ/NX-series Troubleshooting Manual (Cat. No. W503) for the event codes.
Output Variable Update Timing
Name Timing for changing to TRUE Timing for changing to FALSE
Busy When PositiveEnable or NegativeEnable changes to TRUE.
•
When the axis stops.•
When Error changes to TRUE.•
When CommandAborted changes to TRUE.CommandAborted
•
When this instruction is aborted because an-other motion control instruction was executed with the Buffer Mode set to Aborting.•
When this instruction is canceled due to an er-ror.•
When this instruction is executed while there is an error.•
When you start this instruction during MC_Stop instruction execution.•
When PositiveEnable is TRUE and changes to FALSE.•
When NegativeEnable is TRUE and changes to FALSE.•
After one period when PositiveEnable and NegativeEnable are FALSE.Error When there is an error in the execution condi-tions or input parameters for the instruction.
When the error is cleared.
In-Out Variables
Name Meaning Data type Valid
range Description
Axis Axis _sAXIS_REF --- Specifies the axis. *1
*1. Specify a user-defined Axis Variable that was created in the Axis Basic Settings of the Sysmac Studio (default: MC_Ax-is*) or a system-defined axis variable name (_MC_AX[*], _MC1_AX[*], or _MC2_AX[*]).
If you use Sysmac Studio version 1.29 or higher, you can specify the system-defined axis variable name for AT specifi-cation of a user-defined variable. This will allow you to specify the user-defined variable.
If you use Sysmac Studio version 1.28 or lower, do not specify any user-defined variable created in the variable table.
Function
• The MC_MoveJog (Jog) instruction performs jogging according to the specified Velocity (Target Ve-locity).
• To jog in the positive direction, change PositiveEnable (Positive Direction Enable) to TRUE. To jog in the negative direction, change NegativeEnable (Negative Direction Enable) to TRUE.
• If PositiveEnable (Positive Direction Enable) and NegativeEnable (Negative Direction Enable) are changed to TRUE at the same time, PositiveEnable (Positive Direction Enable) takes priority. As a result, the axis will jog in the positive direction.
MC_MoveJog
3
Function
• If the command velocity of the MC_MoveJog (Jog) instruction exceeds the Maximum Jog Velocity
value that is set in the axis parameters, the Maximum Jog Velocity value is used.
Precautions for Correct Use
• When creating a ladder diagram program, you must connect the PositiveEnable (Positive Di-rection Enable) input variable to the left bus bar and specify a variable for the NegativeEnable (Negative Direction Enable) input variable as shown below.
PositiveEnable
ErrorID MC_MoveJog_instance
Error MC_MoveJog
Axis Axis
Busy CommandAborted NegativeEnable
Velocity Acceleration Deceleration MC_Axis000
POS_EN
NEGA_EN
J_ERRID VEL
ACC DEC
J_CA J_ERR
J_DONE
To use the master control instructions (MC and MCR) for the MC_MoveJog (Jog) instruction, do not program the instructions as shown below. If you do, master control is applied only to PositiveEnable (Positive Direction Enable), i.e., it is not applied to NegativeEnable (Negative Direction Enable).
MC_On
MCNo MC In 0 Master control started.
PositiveEnable
ErrorID MC_MoveJog_instance
Error MC_MoveJog
Axis Axis
Busy CommandAborted NegativeEnable
Velocity Acceleration Deceleration MC_Axis000
POS_EN
NEGA_EN
J_ERRID VEL
ACC DEC
J_CA J_ERR
J_DONE MC_MoveJog Instruction
MCNo MCR In 0
Master control ended.
Always use the master control instructions for the MC_Power instruction.
MC_On
MCNo MC In 0 Master control started.
MC_MoveJog
3
Function
Enable Status
ErrorID PWR1
Error MC_Power
Axis Axis
Busy MC_Axis000
Pwr1_En Pwr1_Status
Pwr1_Bsy Pwr1_Err Pwr1_ErrID Servo turned ON.
MCNo MCR In 0
Master control ended.
PositiveEnable
ErrorID MC_MoveJog_instance
Error MC_MoveJog
Axis Axis
Busy CommandAborted NegativeEnable
Velocity Acceleration Deceleration MC_Axis000
POS_EN
NEGA_EN
J_ERRID VEL
ACC DEC
J_CA J_ERR
J_DONE MC_MoveJog Instruction
Timing Charts
• Busy (Executing) changes to TRUE as soon as PositiveEnable (Positive Direction Enable) or NegativeEnable (Negative Direction Enable) changes to TRUE.
• The axis starts deceleration as soon as PositiveEnable (Positive Direction Enable) or
NegativeEnable (Negative Direction Enable) changes to FALSE. Busy (Executing) changes to FALSE when the axis stops completely.
• If another instruction aborts this instruction, CommandAborted changes to TRUE and Busy
(Execut-ing) changes to FALSE.
Velocity
Decelerates to a stop when another instruction causes an error.
Time Deceleration
Acceleration
Target velocity Busy
NegativeEnable
CommandAborted Error
16#0000 ErrorID
PositiveEnable