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PMAC 2 Software Reference
PMAC On-Line Command Specification 239
J=={constant}
Function
Jog to specified motor position and make that position the “pre-jog” position
Scope
Motor specific
Syntax
J=={constant}
where:
• {constant} is a floating point value specifying the location to which to jog, in encoder
counts.
Remarks
This command causes the addressed motor to jog the position specified by {constant}. It
also makes this position the pre-jog position, so it will be the destination of subsequent J=
commands. 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
#1J==10000 . ; Jog Motor 1 to 10000 counts and make that the pre-jog
........................... ; position.
J+ ...................... ; Jog indefinitely in the positive direction
J= ; Return to 10000 counts
See Also
Jogging Moves (Basic Motor Moves)
I-variables Ix19-Ix22
On-line commands J=, J={constant}, J=*, J^*
J^{constant}
Function
Jog Relative to Actual Position
Scope
Motor specific
Syntax
J^{constant}
where:
• {constant} is a floating point value specifying the distance to jog, in counts.
Remarks
This causes a motor to jog the distance specified by {constant} relative to the present
actual 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 commanded position.
Usually the J:{constant} command is more useful, because its destination is not
dependent on the following error at the instant of the command. The J^0 command can be
useful for “swallowing” any existing following error.
A variable incremental jog 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 from actual position
........................... ; If actual was -5 cts, new command pos is 1995 cts
J^2000............. ; Jog a distance of 2000 counts from actual position
; If actual was 1992 cts, new cmd pos is 3992 cts
See Also
Jogging Moves (Basic Motor Moves)
I-variables Ix19-Ix22