Closed Loop Relative Position Mode

First, allow me to point out that there is nothing "relative" about this mode. The controller reacts only to "!G" commands and interprets them as ABSOLUTE position to go to. Considering the amount of completely unrelated commands and operating parameters that have "relative" in them this is very confusing name for a mode. If it was up to me I'd call it "Controlled Tracking" or something like that.

Nevertheless, the bigger problem is that !P, !PX and ?DR commands do not work in this mode, and there are no alternative !G variants to use. Which means extremely useful Position Command Chaining cannot be used in Closed Loop Relative Position Mode, and I fail to see any reason for that. It does not matter what kind of sensor is used for feedback, analog or encoder. In the end it all comes down to simple numbers that reflect current and desired positions.

So, I have a question and a proposition for you. The question is - is there any not yet documented way to chain commands in this mode? And if not, my proposition would be either to allow P* commands to work with analog sensor feedback, or to add corresponding G* variants for command chaining.

Hi, did you find a solution to this issue? I'm also interested in chaining position commands. I'm using the count position closed loop mode and found that the !DR is not working

I do not have an encoder, so I had to use relative position mode. Since you are using count position mode, all those commands should work for you.
Make sure you are using "?DR", not "!DR" as in my original post, that was a typo.

I'm actually writing a script, so I use getvalue(_DR,1) as ?DR. It always returns 0.

Solved it using getvalue(_DREACHED,1)

interesting... if _DR does not work but _DREACHED does then it looks like a bug.