T-Series/Commands/Move Relative

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[edit] Move Relative - Cmd 21

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Instruction Name	Move Relative
Firmware Version	5.00 and up
Command Number	21
Command Type	Command
Command Data	Relative Position
Reply Data	Final Position
Persistence	n/a
Summary	Moves the device by the positive or negative number of microsteps specified in the Command Data.

The device moves to the position given by its position before the command plus the value in command data. The final position must be within the acceptable range for the device or an error code will be returned. All move commands are pre-emptive. If a move relative command is issued while the device is currently moving due to a previous command, the device will immediately set a new target position equal to the current position (at the instant the command was received) plus the specified relative position. The target speed and acceleration during a move relative instruction can be specified using commands 42 and 43 respectively. The relative move command data (in microsteps) can be negative.

This command may pre-empt, or be pre-empted by commands 18, 20, 21, 22 and 23.