Reference Manual

PMAC 2 Software Reference
234 PMAC On-Line Command Specification
See Also
Circular Moves (Writing a Motion Program)
On-line command ABS
Program commands ABS, INC
J!
Function
Adjust motor commanded position to nearest integer count
Scope
Motor specific
Syntax
J!
Remarks
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.
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+
Remarks
This command causes the addressed motor to jog in the positive direction indefinitely.
Jogging acceleration and velocity are determined by the values of Ix19-Ix22 in force at the
time of this command.
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 PMAC to the Machine)
JPAN Connector Pin 6
Jogging Moves (Basic Motor Moves)
I-variables Ix19-Ix22
On-line commands J-, J/, J=, J={constant}, J:{constant}, J^{constant}