Reference Manual

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PMAC 2 Software Reference

236 PMAC On-Line Command Specification

J:{constant}

Function

Jog Relative to Commanded Position

Scope

Motor specific

Syntax

J:{constant}

where:

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

Remarks

This command causes a motor to jog the distance specified by {constant} relative to the

present commanded position. Jogging acceleration and velocity are determined by the values of

Ix19-Ix22 in force at the time of this command. Compare to J^{constant}, which is a jog

relative to the present actual position. A variable incremental jog command can be executed with

the J:* 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

#1HM.................. ; Do homing search move on Motor 1

J:2000............. ; Jog a distance of 2000 counts (to 2000 counts)

J:2000 ; Jog a distance of 2000 counts (to 4000 counts)

See Also

Jogging Moves (Basic Motor Moves)

I-variables Ix19-Ix22

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

J:*

Function

Jog to specified variable distance from present commanded position

Scope

Motor specific

Syntax

J:*

Remarks

This command causes the addressed motor to jog the distance specified in the motor’s

variable jog position/distance register relative to the present commanded position. Jogging

acceleration and velocity are determined by the values of Ix19-Ix22 in force at the time of

this command. Compare to J^* , which is a jog relative to the present actual position.

The variable jog position/distance register is a floating-point register with units of counts. It

is best accessed with a floating-point M-variable. The register is located at PMAC address

L:$082B for motor 1, L:$08EB for motor 2, etc. (suggested M-variable Mx72) 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.

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:$082B ; 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; end cmd. pos. will be 3000

#1J:* ............... ; Jog Motor 1 this distance; end cmd. pos. will be 6000

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

#1J:* ............... ; Jog Motor 1 this distance

#1J= ; Return to prejog target position