### MI

Serial Move Incremental: this command will incrementally move the specified distance at the specified speed. A positive incremental move will occur in the direction determined by the variable DIR, and a negative incremental move will occur in the opposite direction.

The optional flag [in pos ack] enables the operator to direct the drive to indicate when the commanded move is completed. When this flag is set to 1, the drive, upon completion of the commanded move, will output an exclamation point (!) over the serial port. The exclamation point is tied to the STOPPED flag and will be issued when STOPPED transitions from 0 to 1.

Position is in feedback counts. Issuing an MI command while the motor is not stopped will cause the command to be buffered for later execution. However, more than one command will not be buffered.

See also INPOS, MA, PCMD, PEINPOS, PFB, STOPPED.

SYNTAX/RANGE: MI <pos> <vel> [in pos ack]
<pos> -LONG to LONG (feedback counts)
<vel> 1 to VMAX (rpm or mm/sec)
[in pos ack] 0 or 1 (optional)
in pos ack = 0: do not indicate when move is complete
in pos ack = 1: indicate when move is complete

Firmware Versions: 3.1.0 and later
Command Syntax: see above
Opmodes: 8 Drive Status: en

EXAMPLES:
MI 10000 1000 (move 10,000 counts in the positive
direction at a speed of 1,000 RPM)
MI -10000 100 1 (move 10,000 counts in the negative
direction at a speed of 100 RPM;
transmit a (!) to the serial port when
the move is completed)