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Turbo PMAC/PMAC2 Software Reference
Turbo PMAC On-line Command Specification
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This command causes the addressed motor to jog the distance specified in the motor’s variable jog
position/distance register relative to the present actual position. Jogging acceleration and velocity are
determined by the values of Ixx19-Ixx22 in force at the time of this command. Compare to J:* , which
is a jog relative to the present commanded position.
position/distance register relative to the present actual position. Jogging acceleration and velocity are
determined by the values of Ixx19-Ixx22 in force at the time of this command. Compare to J:* , which
is a jog relative to the present commanded position.
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.
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.
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).
motion program (reporting ERR001 if I6 is 1 or 3).
Example:
M172->L:$0000D7
; 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; if following error at command was 3,
; end cmd. pos. will be 2997
#1J^*
; Jog Motor 1 this distance; if following error at command was 2, end cmd.
; pos. will be 5995
M172=P1*SIN(P2)
; Assign new distance value to register
#1J^*
; Jog Motor 1 this distance
#1J=
; Return to prejog target position
See Also:
Jogging Moves (Basic Motor Moves)
I-variables Ixx19-Ixx22
Memory map registers L:$0000D7, L:$000157, etc.
Suggested M-variable definitions M172, M272, etc.
On-line commands J=, J={constant}, J=*, J^*
Jogging Moves (Basic Motor Moves)
I-variables Ixx19-Ixx22
Memory map registers L:$0000D7, L:$000157, etc.
Suggested M-variable definitions M172, M272, etc.
On-line commands J=, J={constant}, J=*, J^*
{jog command}^{constant}
Function:
Jog until trigger
Scope:
Motor specific
Syntax:
J=^{constant}
J={constant}^{constant}
J:{constant}^{constant}
J^{constant}^{constant}
J=*^{constant}
J:*^{constant}
J^*^{constant}
where:
{constant} after the ^ is a floating point value specifying the distance from the trigger to which to
jog after the trigger is found, in encoder counts
jog after the trigger is found, in encoder counts
This command format permits a jog-until-trigger function. When the ^{constant} structure is added
to any definite jog command, the jog move can be interrupted by a pre-defined trigger condition, and the
motor will move to a point relative to the trigger position as specified by the final value in the command.
The indefinite jog commands J+ and J- cannot be turned into jog-until-trigger moves.
to any definite jog command, the jog move can be interrupted by a pre-defined trigger condition, and the
motor will move to a point relative to the trigger position as specified by the final value in the command.
The indefinite jog commands J+ and J- cannot be turned into jog-until-trigger moves.
Jog-until-trigger moves are very similar to homing search moves, except they have a definite end position
in the absence of a trigger, and they do not change the motor zero position. In addition, in the absence of
a trigger, the move will simply stop at the first destination.
in the absence of a trigger, and they do not change the motor zero position. In addition, in the absence of
a trigger, the move will simply stop at the first destination.