How to JOG axis with kinematic (not motor)

[teremock]

Hello

I implement Forward and Inverse kinematic for axis Z.
Axis Z contains several motors.

All works good with CS commands like

cpx linear Z12.34 F10;

But Now I need to JOG Z axis. Something like

&Zj+

Is that possible or is there a some advice?

Roman

 

Edited March 18 by teremock

[robodavo]

There is no way to jog a virtual axis that does not have a linear relationship to a motor ie: arm kinematics

 the only way to simulate this is to duplicate your kinematic code in a real-time plc which sends updated jog commands continually.

 Another way is to send a coordinated Z move in a motion program and do a coordinated stop (\ or LH1\ in a plc) when you want to stop the jog. Adjust acceleration rates and feed hold slew rates to simulate the jog move required.

[AAnikstein]

Users that want functionality like this will often make a motion program that uses a series of small moves which blend together--something like:

 

OPEN PROG MotorJog

WHILE(JogFlag == 1)

{

LINEAR INC F10 F0.1

}

CLOSE

 

They would then need to run the motion program in the Coordinate System, then set the flag. 

[teremock]

Yes, you are right.

I find sample project with following code:

OPEN PROG 100
DO
{
    INC LINEAR TA 1 TS 0 f(JogZSpeed) Z(IncDistZ)    
}
WHILE(1)
CLOSE

 

and PLC script:

....

        IF(JogZPlusIn)
        {            
            IncDistZ = IncDist            
            START 2:100
            WHILE(JogZPlusIn){}
            ABORT 2
            WHILE(Coord[2].ProgActive || Coord[2].DesVelZero == 0){}
            pmatch
        }
    
        IF(JogZMinusIn)
        {
            IncDistZ =-IncDist
            START 2:100
            WHILE(JogZMinusIn){}
            ABORT 2
            WHILE(Coord[2].ProgActive || Coord[2].DesVelZero == 0){}
            pmatch
        }    

......

 

Thank you.