User Manual

Commands Reference
188 Advanced Digital Motor Controller User Manual V2.0, July 8, 2019
Syntax Scripting: setcommand(_P, cc, nn)
setcommand(_MOTPOS, cc, nn)
Number of Arguments: 2
Argument 1: Channel
Min: 1 Max: Total Number of Motors
Argument 2: Destination Type: Signed 32-bit
Min: -2147M Max: +2147M
Where:
cc = Motor channel
nn = Absolute count destination
Example:
!P 1 10000 : make motor go to absolute count value 10000.
PR - Go to Relative Desired Position
Alias: MPOSREL HexCode: 11 CANOpen id: 0x200F
Description:
This command is used in the Position Count mode to make the motor move to a feedback
sensor count position that is relative to its current desired position.
Syntax Serial: PR [cc] nn
Syntax Scripting: setcommand(_PR, cc, nn)
setcommand(_MPOSREL, cc, nn)
Number of Arguments: 2
Argument 1: Channel
Min: 1 Max: Total Number of Motors
Argument 2: Delta Type: Signed 32-bit
Min: -2147M Max: +2147M
Where:
cc = Motor channel
nn = Relative count position
Example:
!PR 1 10000 : while motor is stopped after power up and counter = 0, motor 1 will go to
+10000
!PR 2 10000 : while previous command was absolute goto position !P 2 5000, motor will
go to +15000
Note:
Beware that counter will rollover at counter values +/-2’147’483’648.