Pr (position relative), Motion – Yaskawa LEGEND-MC User Manual
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LEGEND-MC User’s Manual
PR (Position Relative)
[Motion]
DESCRIPTION:
The PR command sets the incremental distance and direction of the next move. The move is referenced
with respect to the current position. Units are in quadrature counts.
ARGUMENTS: PR x, y, z, w or PRX=x or PR a, b, c, d, e, f, g, h where
x, y z, w, or a, b, c, d, e, f, g, h are signed integers
USAGE:
OPERAND USAGE:
_PRn will return the current incremental distance where n is an axis letter.
RELATED COMMANDS:
EXAMPLES:
While Moving
No
Minimum n Value
-2147483648
In a Program
Yes
Maximum n Value
2147483647
Command Line
Yes
Default Value
0
Can be Interrogated
Yes
Default Format
Position Format
setting
Used as an Operand
Yes
Distributed Control
Specific Axis
"BG" Begin
"AC" Acceleration
"DC" Deceleration
"SP" Speed
"IP" Increment
Position
:PR 100
On the next move the X-axis will go 100
counts,
:BG
:PR ?
Return relative distances
0000000100