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For information on the latest version, please have a look at 1.33.5.

jog_h2r

This function initiates a jog motion. It is a hold-to-run version of the jog command. It initiates the motion, which must be sustained by periodically calling the hold2run command.

Definition
DRFLEx.h within class CDRFLEx

bool jog_h2r(JOG_AXIS eJogAxis, MOVE_REFERENCE eMoveReference, float fVelocity)
{
  return _jog_h2r(_rbtCtrl, eJogAxis, eMoveReference, fVelocity);
};

Parameter

Parameter Name	Data Type	Default Value	Description
eJogAxis	JOG_AXIS		Jog axis
eMoveReference	MOVE_REFERENCE		Motion reference
fVelocity	float		Jog velocity (Unit: mm/s or deg/s)

Return

Value	Type	Description
True	bool	Success
False	bool	Fail

Note

Returns false while a DRL program is running or paused.

Example

// Start jogging Joint 1 at 30 deg/s
drfl.jog_h2r(JOG_AXIS_JOINT_1, MOVE_REFERENCE_BASE, 30.0);

// Maintain jog motion for a certain condition or duration
bool stop_jog = false; // set by your own stop condition
while (!stop_jog) {
     drfl.hold2run();
     std::this_thread::sleep_for(std::chrono::milliseconds(100));
}