User Manual

Runtime Commands
Advanced Digital Motor Controller User Manual 189
PRX - Next Go to Relative Desired Position
Alias: NXTPOSR HexCode: 13 CANOpen id: 0x2011
Description:
This command is similar to PR except that it stores a relative count value in a buffer. This
value becomes active upon reaching a previous desired position and will become the next
destination the controller will go to. See Position Command Chaining in manual.
Syntax Serial: !PRX [cc] nn
Syntax Scripting: setcommand(_PRX, cc, nn)
setcommand(_NXTPOSR, 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:
!P 1 5000 followed by !PRX 1 -10000 : will cause motor to go to count position 5000 and
upon reaching the destination move to position -5000.
PX - Next Go to Absolute Desired Position
Alias: NXTPOS HexCode: 12 CANOpen id: 0x2010
Description:
This command is similar to P except that it stores an absolute count value in a buffer. This
value will become the next destination the controller will go to and becomes active upon
reaching a previous desired position. See Position Command Chaining in manual.
Syntax Serial: !PX [nn] cc
Syntax Scripting: setcommand(_PX, nn, cc)
setcommand(_NXTPOS, nn, cc)
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