Jogging IRB with FP SDK

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Hello,

I tried to jogging the IRB with FP SDK. Basicly everything is working. Here is the code (iIncrLinear = mm):

motionSystem.IncrementalMode = IncrementalModeType.User;

mUnit.SetUserDefIncStepSize(UserDefIncStepSizeMode.Linear, Math.Round(iIncrLinear / 1000, 6));

motionSystem.JoggingStop();

motionSystem.SetJoggingCmd(1, 0, 0);

motionSystem.JoggingStart();

My problem is now, I want only one incremental move of the robot. In this case the robot is moving endless.

What I have to do, for make sure that the robot is moving only one increment?
Thank you for help.

granale