Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC On-line Command Specification 332
Circular Moves (Writing and Executing Motion Programs)
On-line command ABS
Program commands ABS, INC
J!
Function: Adjust motor commanded position to nearest integer count
Scope: Motor specific
Syntax: J!
This command causes the addressed motor, if the desired velocity is zero, to adjust its commanded position
to the nearest integer count value. It can be valuable to stop dithering if the motor is stopped with its
commanded position at a fractional value and integral gain is causing oscillation about the commanded
position.
Note:
A half-count of true deadband created in the servo loop with Ixx64=-16 and
Ixx65=8 can serve the same purpose without the need for issuing a command.
Example:
OPEN PLC 7 CLEAR
IF (M50=1) ; Condition to start branch
CMD"#1J/" ; Tell motor to stop
WHILE (M133=0) ; Wait for desired velocity to reach zero
ENDWHILE
CMD"#1J!" ; Adjust command position to integer value
M50=0 ; To keep from repeated execution
ENDIF
See Also:
On-line commands J/, J={constant}
J+
Function: Jog Positive
Scope: Motor specific
Syntax: J+
This command causes the addressed motor to jog in the positive direction indefinitely. Jogging
acceleration and velocity are determined by the values of Ixx19-Ixx22 in force at the time of this
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:
J+ ; Jog addressed motor positive
#7J+ ; Jog Motor 7 positive
#2J+#3J+ ; Jog Motors 2 and 3 positive
See Also:
Control Panel Port JOG+/ Input (Connecting Turbo PMAC to the Machine)
JPAN Connector Pin 6
Jogging Moves (Basic Motor Moves)
I-variables Ixx19-Ixx22
On-line commands J-, J/, J=, J={constant}, J:{constant}, J^{constant}