Reference Manual

PMAC 2 Software Reference

PMAC On-Line Command Specification 237

Function

Jog to Prejog Position

Scope

Motor specific

Syntax

Remarks

This command causes the addressed motor to jog to the last pre-jog and pre-handwheel-move

position (the most recent programmed position). Jogging acceleration and velocity are

determined by the values of Ix19-Ix22 in force at the time of this command.

The register containing this position information for the motor is called the target position

definitions M163, M263, etc. can be used in programs to give access to these registers.

If the / or \ stop command has been used to suspend program execution, and one or more

motors jogged away from the stop position, the J= command must be used to return the

motor(s) back to the stop position before program execution can be resumed.

The J= command can also be useful if a program has been aborted in the middle of a move,

because it will move the motor to the programmed move end position (provided I13=0 so

PMAC is not in segmentation mode), so the program may be resumed properly from that

point.

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

&1Q .................... ; Stop motion program at end of move

#1J+.................. ; Jog Motor 1 away from this position

J/ ...................... ; Stop jogging

J= ...................... ; Jog back to position where program quit

R......................... ; Resume motion program

&1A .................... ; Stop motion program in middle of move

#1J=#2J=#3J= ; Move all motors to original move end position

R ; Resume motion program