XGB EtherCAT Jogging an Axis with XPM_JOG

Axis jog functionality is done using the XPM_JOG function block.

  • XPM_RTP is used to return to previous position after doing a manual move.

  • The axis being controlled must already be configured using the XG-PM software before using XPM_JOG and XPM_RTP.

  • XPM_ECON and XPM_SVON must be executed before using movement function blocks.

Example program is LP624_XPM_JOG_Example in OnlineHelp_ECAT_Example.

Element Name Element Type Description
REQ Input Edge detected request to execute the function block.
BASE Input Base number of the motion controller. Set to 0.
SLOT Input Slot number of the motion controller. Set to Slot number of the XBF-PN0xB module.
AXIS Input Axis number to control. XBF-PN04B:1~4, XBF-PN08B:1~8
JOG_DIR Input Set the direction of the JOG. 0: Forward Direction. 1: Reverse Direction.
LOW/HIGH Input Set the Speed of the JOG operation. 0: Uses Low Speed Axis setting. 1: Uses High Speed Axis setting.
DONE Output Status that function block is done.
STAT Output Current status of the function block. Non-zero numbers will be an error or warning.

Element Name Element Type Description
REQ Input Edge detected request to execute the function block.
BASE Input Base number of the motion controller.
SLOT Input Slot number of the motion controller. Set to Slot number of the XBF-PN0xB module.
AXIS Input Axis number to control. XBF-PN04B:1~4, XBF-PN08B:1~8
DONE Output Status that function block is done.
STAT Output Current status of the function block. Non-zero numbers will be an error or warning.

When this FB gets executed, Jogging of Axis 1 occurs in the direction determined in JOG_DIR, forward in this case. Since the LOW_HIGH input is 1, The jog speed will follow the High speed value assigned in XG-PM

XPM_JOG in Forward Direction XG-PM Monitoring

When this FB gets executed, Jogging of Axis 1 occurs in the direction determined in JOG_DIR, reverse in this case. Since the LOW_HIGH input is 0, The jog speed will follow the low speed value assigned in XG-PM

XPM_JOG in Reverse Direction XG-PM Monitoring

You can use XPM_RTP to move the axis back to the previous position before the manual move was initiated. After the manual move (jog or Inching) is complete, initiate the XPM_RTP FB to undo the manual move.

XPM_RTP XG-PM Monitoring

Many basic motion functions can be controlled through XG-PM without the PLC being populated with a jog function block. Open the Command Tool under the View menu in XG-PM. Ensure the CMD Axis is set to the desired axis to be controlled.

In the Command Tool ensure the correct Axis is selected at the top.

  • “<<“ will jog the motor in reverse at the high speed setting

  • “<“ will jog the motor in reverse at the low speed setting

  • “>“ will jog the motor forward at the low speed setting

  • “>>“ will jog the motor forward at the high speed setting

Note that jogging does not stop when the button is released in the Command Tool. Jogging will continue until Stop Jog || is pressed.

 

 

 

 

 

 

 

LP624