Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC On-line Command Specification 334
J:{constant}
Function: Jog Relative to Commanded Position
Scope: Motor specific
Syntax: J:{constant}
where:
 {constant} is a floating point value specifying the distance to jog, in counts.
This command causes a motor to jog the distance specified by {constant} relative to the present
commanded position. Jogging acceleration and velocity are determined by the values of Ixx19-Ixx22 in
force at the time of this command. Compare to J^{constant}, which is a jog relative to the present
actual position.
A variable incremental jog command can be executed with the J:* command
Turbo PMAC will reject this command if the motor is in a coordinate system that is currently running a
motion program (reporting ERR001 if I6 is 1 or 3).
Example:
#1HM ; Do homing search move on Motor 1
J:2000 ; Jog a distance of 2000 counts (to 2000 counts)
J:2000 ; Jog a distance of 2000 counts (to 4000 counts)
See Also:
Jogging Moves (Basic Motor Moves)
I-variables Ixx19-Ixx22
On-line commands J+, J-, J/, J=, J={constant}, J^{constant}
J:*
Function: Jog to specified variable distance from present commanded position
Scope: Motor specific
Syntax: J:*
This command causes the addressed motor to jog the distance specified in the motor’s variable jog
position/distance register relative to the present commanded position. Jogging acceleration and velocity
are determined by the values of Ixx19-Ixx22 in force at the time of this command. Compare to J^* ,
which is a jog relative to the present actual position.
The variable jog position/distance register is a floating-point register with units of counts. The register is
located at Turbo PMAC address L:$0000D7 for motor 1, L:$000157 for motor 2, etc. It is best accessed
with a floating-point M-variable; the suggested M-variable is Mxx72. The usual procedure is to write the
destination position to this register by assigning a value to the M-variable, then issuing the J:*
command.
Turbo PMAC will reject this command if the motor is in a coordinate sytem that is currently running a
motion program (reporting ERR001 if I6 is 1 or 3).
Example:
M172->L:$0000D7 ; Define #1 variable jog position/distance reg.
#1HMZ ; Declare present position to be zero
M172=3000 ; Assign distance value to register
#1J:* ; Jog Motor 1 this distance; end cmd. pos. will be 3000
#1J:* ; Jog Motor 1 this distance; end cmd. pos. will be 6000
M172=P1*SIN(P2) ; Assign new distance value to register
#1J:* ; Jog Motor 1 this distance
#1J= ; Return to prejog target position
See Also: