4. PLC interface MCP1
Festo GDCP-CMXR-F-EN 0909a
25
Note
Wrist axes can only be run to a specified position in the axis coordinate
system. This is not possible in other coordinate systems.
JOG control register CJOG
AXIS
Number of the JOG axis
0 ... 8 corresponds with:
Travel in axes: A1 ... A6, Auxiliary axes A7 ... A9
Travel in Cartesian coordinates: X, Y, Z, A, B, C, AUX1 ...3
If axes which do not exist are selected, then the last available axis will
be selected, e.g.: Robot has 5 axes, axis 6 is selected, axis 5 is active.
COORD
JOG coordinate system
Axis coordinate system
World coordinate system
Active reference system
Tool coordinate system
JOGN
JOG bit negative direction
Manual movement in negative direction.
JOGP
JOG bit positive direction
Manual movement in positive direction If the CREG.JPENA bit is set,
then the target position is approached in the Jog position register
JOGPOS.
JOG status register
AXIS
Active JOG axis
COORD
Active FOG coordinate system
ESN
Negative limit switch reached
ESP
Positive limit switch reached
4.4.10
Selecting the operation mode
The interface can be used to select two operation modes, MANUAL and AUTOMATIC.
Summary of Contents for CMXR-C1
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