# Jogging IRB with FP SDK

**URL:** <https://tech-community.robotics.abb.com/t/jogging-irb-with-fp-sdk/4049>\
**Category:** Developer Tools\
**Created:** [February 16, 2011, 2:18pm UTC](https://tech-community.robotics.abb.com/t/jogging-irb-with-fp-sdk/4049 "2011-02-16T14:18:28Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![granale](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/granale/32/2971_2.png) [@granale](https://tech-community.robotics.abb.com/u/granale)\
**Post date:** [February 16, 2011, 2:18pm UTC](https://tech-community.robotics.abb.com/t/jogging-irb-with-fp-sdk/4049/1 "2011-02-16T14:18:28Z")

</div>

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