Reference Manual

Turbo PMAC/PMAC2 Software Reference

Turbo PMAC On-line Command Specification 335

Jogging Moves (Basic Motor Moves)

I-variables Ixx19-Ixx22

Memory map registers L:$0000D7, L:$000157, etc.

Suggested M-variable definitions M172, M272, etc.

On-line commands J=, J={constant}, J=*, J^*

Function: Jog to Prejog Position

Scope: Motor specific

Syntax: J=

This command causes the addressed motor to jog to the last pre-jog and pre-handwheel-move position

(the most recent programmed position). Jogging acceleration and velocity are determined by the values

of Ixx19-Ixx22 in force at the time of this command.

If the H feedhold command has been used to suspend program execution, and one or more motors jogged

away from the stop position, the J= command must be used to return the motors back to the stop position

before program execution can be resumed.

The J= command can also be useful if a program has been aborted in the middle of a move, because it

will move the motor to the programmed move end position (provided Isx13=0 so Turbo PMAC is not in

segmentation mode), so the program may be resumed properly from that point.

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:

&1Q ; Stop motion program at end of move

#1J+ ; Jog Motor 1 away from this position

J/ ; Stop jogging

J= ; Jog back to position where program quit

R ; Resume motion program

&1A ; Stop motion program in middle of move

#1J=#2J=#3J= ; Move all motors to original move end position

R ; Resume motion program