Command Set
59
PR move by relative position
USAGE
IMM
♦
MIP
SYNTAX
xxPRnn or xxPR?
PARAMETERS
Description
xx
[ int ]
-
Controller number
Nn
[ int ] - Position value
Range
xx
- 0 to 255
nn
- -60000 to 120000
Units
Micro-steps
Defaults
xx
Missing: None
out of range: None
nn
missing: Error 37, Parameter Missing
out of range: Error 7, Parameter Out of Range
Error 213, Motor Off
Error 230, Command not allowed
during motion
DESCRIPTION
This command initiates a relative motion. When received, a
trapezoidal trajectory is generated with the predefined acceleration
and velocity and the actuator will move to the relative position
specified by nn.
NOTE: The command is not accepted while a motion is in
progress.
RETURNS
If the “?” sign takes the place of nn value, this command reports
the last commanded position. Which is the same as the value read
back from TP? ± the predefined Backlash value, if there was a
change of direction.
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