Reference Manual

Turbo PMAC/PMAC2 Software Reference

Turbo PMAC On-line Command Specification 336

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=0 ; Jog addressed motor to position 0

#4J=5000 ; Jog Motor 4 to 5000 counts

#8J=-32000 ; Jog Motor 8 to -32000 counts

See Also:

Jogging Moves (Basic Motor Moves)

I-variables Ixx19-Ixx22

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

J=*

Function: Jog to specified variable position

Scope: Motor specific

Syntax: J=*

This command causes the addressed motor to jog to the position specified in the motor's “variable jog

position/distance” register. Jogging acceleration and velocity are determined by the values of Ixx19-

Ixx22 in force at the time of this command.

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.

Virtually the same result can be obtained by writing to the motor target position register and issuing the

J= command. However, using the J=* command permits the returning to the real target position

afterwards without having to restore the target position register. Also, the J=* command uses a register

whose value is scaled in counts, not fractions of a count.

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.

M172=3000 ; Assign position value to register

#1J=* ; Jog Motor 1 to this position

M172=P1*SIN(P2) ; Assign new position value to register

#1J=* ; Jog Motor 1 to this position

#1J= ; Return to prejog target position