Newport NewStep NSA12, User Manual

Page: 59 / 77

Command Set
59
PR
move by relative position
USAGE
IMM
♦
MIP
SYNTAX xxPRnn or xxP R?
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.