How to control robot directly in joint space while using G code or other?

void MOVJ(int line_number,
    double vel,
    double j0, double j1, double j2, 
    double j3, double j4, double j5,
    double u, double v)
{

EMC_JOG_ABS absjogj0;
//EMC_JOG_CONT cont;
absjogj0.joint_or_axis = 0;
absjogj0.vel = vel;
absjogj0.jjogmode = 1;
absjogj0.pos = j0;

EMC_JOG_ABS absjogj1;
//EMC_JOG_CONT cont;
absjogj1.joint_or_axis = 1;
absjogj1.vel = vel;
absjogj1.jjogmode = 1;
absjogj1.pos = j1;

EMC_JOG_ABS absjogj2;
//EMC_JOG_CONT cont;
absjogj2.joint_or_axis = 2;
absjogj2.vel = vel;
absjogj2.jjogmode = 1;
absjogj2.pos = j2;

EMC_JOG_ABS absjogj3;
//EMC_JOG_CONT cont;
absjogj3.joint_or_axis = 3;
absjogj3.vel = vel;
absjogj3.jjogmode = 1;
absjogj3.pos = j3;

EMC_JOG_ABS absjogj4;
//EMC_JOG_CONT cont;
absjogj4.joint_or_axis = 4;
absjogj4.vel = vel;
absjogj4.jjogmode = 1;
absjogj4.pos = j4;

EMC_JOG_ABS absjogj5;
//EMC_JOG_CONT cont;
absjogj5.joint_or_axis = 5;
absjogj5.vel = vel;
absjogj5.jjogmode = 1;
absjogj5.pos = j5;

EMC_TRAJ_SET_TELEOP_ENABLE jogenable;
jogenable.enable=0;

flush_segments();
interp_list.append(jogenable);
interp_list.append(absjogj0);
interp_list.append(absjogj1);
interp_list.append(absjogj2);
interp_list.append(absjogj3);
interp_list.append(absjogj4);
interp_list.append(absjogj5);
EMC_TRAJ_SET_TELEOP_ENABLE jogdisable;
jogdisable.enable=1;
interp_list.append(jogdisable);


}