Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC On-line Command Specification 338
This command causes the addressed motor to jog the distance specified in the motor’s variable jog
position/distance register 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:* , which
is a jog relative to the present commanded 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 system 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; if following error at command was 3,
; end cmd. pos. will be 2997
#1J^* ; Jog Motor 1 this distance; if following error at command was 2, end cmd.
; pos. will be 5995
M172=P1*SIN(P2) ; Assign new distance value to register
#1J^* ; Jog Motor 1 this distance
#1J= ; Return to prejog target position
See Also:
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^*
{jog command}^{constant}
Function: Jog until trigger
Scope: Motor specific
Syntax: J=^{constant}
J={constant}^{constant}
J:{constant}^{constant}
J^{constant}^{constant}
J=*^{constant}
J:*^{constant}
J^*^{constant}
where:
 {constant} after the ^ is a floating point value specifying the distance from the trigger to which to
jog after the trigger is found, in encoder counts
This command format permits a jog-until-trigger function. When the ^{constant} structure is added
to any definite jog command, the jog move can be interrupted by a pre-defined trigger condition, and the
motor will move to a point relative to the trigger position as specified by the final value in the command.
The indefinite jog commands J+ and J- cannot be turned into jog-until-trigger moves.
Jog-until-trigger moves are very similar to homing search moves, except they have a definite end position
in the absence of a trigger, and they do not change the motor zero position. In addition, in the absence of
a trigger, the move will simply stop at the first destination.