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Hi. I need to make a program that controls a rotary motor with S300 with ascii commands. What commands do I have to use to get the motor to a certain position, order it to go forward / backward x degrees and stop?

In the documentation I see many commands but it is not clear how to do it. An example would be very appreciated, thank you.

ASCII - Command PGEARO    
Syntax Transmit PGEARO [Data]    
Syntax Receive PGEARO <Data>