ElmoMC SimplIQ Digital Servo Drives-Bell Command Reference - Manual (Page 142)

PR - Relative Position
Purpose:
Specifies that the next software position command will be a PTP (point-to-point)
motion and defines its target position (refer to the
PA command). PR may be applied
in any active motion mode; it is activated and applies changes to the PA setting only
after the next BG is executed.
If PTP motion is already active, PA will be increased by the PR value and become
the new position target.
If PTP motion is not active and is now activated by PR, PA will be set to the new value,
which is equal to the software position command plus the PR value (PA=Position
command + PR). This PA value will become the new target position.
Setting the PA value always resets the PR value to zero.
Attributes: Type: Parameter, Integer
Source: Program, RS-232, CANopen
Restrictions: MO=1
Default value: 0, Volatile. Cleared automatically at MO=1
Range: See Notes below
Unit modes: UM=3, 4, 5
Activation: BG
SimplIQ: Similar
Notes:
If a PA value was set but not activated by BG prior to activating this PR setting,
the PA value will be discarded.
The position target is calculated with modulo counting, resulting in the
following range:
[XM[1]…XM[2]] for UM=3, 5
[YM[1]…YM[2]] for UM=4
and restricted by VL[3] and VH[3].
For example, in UM=5, if XM[1]=0 and XM[2]=1000, PR=2500 is similar to
PR=500. PR is rejected if the results of PA+PR exceed the VL[3] and VH[3] limits.
See also:
PA , XM[N] , YM[N]
Application note:
The Position Reference Generator
SimplIQ for Steppers Command Reference Manual Alphabetical Listing
MAN-STECR (Ver. 1.1)
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