Move.StartJogMode Method

Initiates execution of jog (manual) control mode.

Move.StartJogMode ()

Prerequisites

High power to the robot must be enabled.
The robot does not need to be homed.
The robot must be Attached by the thread.
This mode is not compatible with torque, velocity or other special control modes.
This mode is terminated if the GPL program that has the robot attached hits a breakpoint, is single stepped, or stops execution for any reason.

Parameters

None

Remarks

This method switches all of the axes of a robot from the standard position controlled mode to jog (manual) control mode. This is the mode that is utilized by the Virtual and Hardware Manual Control Pendants (MCP) to implement joint, world, tool and free manual control modes. This method and the Move.SetJogCommand method are provided to permit these same manual modes to be easily implemented by a GPL Project. For example, these methods can be used by a GPL program to implement manual control modes via a graphics HMI or a joystick.

When a robot is placed into this mode, it is moved in a manner similar to velocity control mode in that a specified axis or group of axes are accelerated and moved at a specified continuous speed until they are instructed to change their speed.

Any axis commanded to move will continue to do so until stopped. So, it is responsibility of the GPL Project to have suitable safe guards and time outs to ensure that a motion is terminated when required.


Any axis commanded to move will continue to do so until stopped. So, it is responsibility of the GPL Project to have suitable safe guards and time outs to ensure that a motion is terminated when required.

When this method is executed, it first waits for any in-process position controlled motions to be completed. It then transitions all axes into jog control mode. Once in this mode, the Move.SetJogCommand method must be executed to set and change the specific manual mode, axis and motion speed.

When an axis speed is specified, the setting of the "System Test Speed" is ignored to permit the robot to be moved in a consistent manner when debugging applications.

To permit the axes of a robot to be moved back into range if they are accidentally moved beyond their stop limits, joint control mode permits out-of-range axes to be moved back in range, but not further out-of-range. In addition, the robot does not need to be homed in order to move the axes in joint control mode to permit it to be manually repositioned.

The robot will remain in jog control mode until one of the following occurs:

The Move.StopSpecialModes method is executed to terminate this mode.

A hardware error or hard E-stop or soft E-stop occurs.

A RapidDecel is issued.

The robot is detached by the user program either by issuing a detach command or by halting user program execution for any reason (this includes single stepping a GPL program).

Examples

Robot.Attached = 1             ' Get control of robot #1
Move.StartJogMode()            ' Initiate jog control mode
Move.SetJogCommand(3, 3, 50)   ' Set tool mode, Z-axis, 50% speed
Thread.Sleep(4000)
Move.SetJogCommand(2, 1, -50)  ' Change to world mode, X-axis, -50% speed
Thread.Sleep(4000)
Move.StopSpecialModes          ' Terminate jog mode
Robot.Attached = 0             ' Release control of robot