Jogging IRB with FP SDK

granale

Hello,

 

I tried to jogging the IRB with FP SDK. Basicly everything is working. Here is the code (iIncrLinear = mm):

motionSystem.IncrementalMode = IncrementalModeType.User;
mUnit.SetUserDefIncStepSize(UserDefIncStepSizeMode.Linear, Math.Round(iIncrLinear / 1000, 6));
motionSystem.JoggingStop();
motionSystem.SetJoggingCmd(1, 0, 0);
motionSystem.JoggingStart();

My problem is now, I want only one incremental move of the robot. In this case the robot is moving endless.
What I have to do, for make sure that the robot is moving only one increment?
Thank you for help.
 
granale