Например.
(2) Set PR0 to go relative position mode, running distance 10000p (microstep 10000)
Commands:
01 06 62 00 00 41 56 42 Set PR mode to relative position mode
01 06 62 01 00 00 C7 B2 Set PR0 position high
01 06 62 02 27 10 2D 8E Set PR0 position low
01 06 62 03 02 58 66 E8 Set PR0 velocity
01 06 62 04 00 32 56 66 Set PR0 acceleration
01 06 62 05 00 32 07 A6 Set PR0 deceleration velocity
01 06 60 02 00 10 37 C6 Trigger PR0 motion
Send when you need to stop:
01 06 60 02 00 40 37 FA Emergency stop