ElmoMC SimplIQ Command Reference - Manual (Page 127)

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.
ƒ
If PTP motion is already active, PA will be increased by the PR value and become the
new position target.
ƒ 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
Notes:
ƒ If a PA value was set but not activated by BG prior to activating this PR setting,
the PA value will be discarded.
ƒ 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]
Reference chapter in the SimplIQ Software Manual:
Chapter 12, ”The Position Reference Generator”
SimplIQ Command Reference Manual Alphabetical Listing
MAN-SIMCR (Ver. 4.5)
3-114