Optima DMC-1xxx and DMC-18x2 Command Reference
PR
i
153
PR
FUNCTION: Position Relative
DESCRIPTION:
The PR command sets the incremental distance and direction of the next move. The move is
referenced with respect to the current position. .
ARGUMENTS: PR n,n,n,n,n,n,n,n or
PRA=n where
n is a signed integer in the range -2147483648 to 2147483647 decimal. Units are in encoder
counts
n = ? Returns the current incremental distance for the specified axis.
USAGE: DEFAULTS:
While Moving
No
Default Value
0
In a Program
Yes
Default Format
Position Format
Command Line
Yes
Controller Usage
ALL CONTROLLERS
OPERAND USAGE:
_PRn contains the current incremental distance for the specified axis.
RELATED COMMANDS:
"BG "
Begin
"DC "
Deceleration
"SP "
Speed
"PF"
Position Formatting
"
PA
" Position
Absolute
"
AC
" Acceleration
"
IP
" Increment
Position
EXAMPLES:
:PR 100,200,300,400
On the next move the A-axis will go 100 counts,
:BG
the B-axis will go to 200 counts forward, C-axis will go 300
counts and the D-axis will go 400 counts.
:PR ?,?,?
Return relative distances
0000000100,0000000200,0000000300
:PR 500
Set the relative distance for the A axis to 500
:BG
The A-axis will go 500 counts on the next move while the
B-axis will go its previously set relative distance.
