Reference Manual

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Turbo PMAC/PMAC2 Software Reference

Turbo PMAC On-line Command Specification 337

 {constant} is a floating point value specifying the location to which to jog, in encoder counts

This command causes the addressed motor to jog the position specified by {constant}. It also makes

this position the pre-jog position, so it will be the destination of subsequent J= commands. 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:

#1J==10000 ; Jog Motor 1 to 10000 counts and make that the pre-jog position.

J+ ; Jog indefinitely in the positive direction

J= ; Return to 10000 counts

See Also:

Jogging Moves (Basic Motor Moves)

I-variables Ixx19-Ixx22

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

J^{constant}

Function: Jog Relative to Actual Position

Scope: Motor specific

Syntax: J^{constant}

where:

 {constant} is a floating point value specifying the distance to jog, in counts.

This causes a motor to jog the distance specified by {constant} relative to the present actual 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 commanded position.

Usually the J:{constant} command is more useful, because its destination is not dependent on the

following error at the instant of the command. The J^0 command can be useful for swallowing any

existing following error.

A variable incremental jog 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 from actual position

; If actual was -5 cts, new command pos is 1995 cts

J^2000 ; Jog a distance of 2000 counts from actual position

; If actual was 1992 cts, new cmd pos is 3992 cts