def METHOD_NAME(self, iChannel, fPos, bTimeOut=True):
    if (fPos >= 0):
        if (fPos <= self.max_travel):
            self.ser_port.flushOutput()
            time.sleep(0.1)
            if (iChannel == 1):
                #self.ser_port.write('%2.5f 0 0 rmove \r\n' %(fPos - self.max_travel[iChannel - 1]/2))
                print(('%2.5f 0 0 rmove \r\n' %(fPos - self.max_travel[iChannel - 1]/2)))
            else:
                #self.ser_port.write('0 %2.5f 0 rmove \r\n' %(fPos - self.max_travel[iChannel - 1]/2))
                print(('0 %2.5f 0 rmove \r\n' %(fPos - self.max_travel[iChannel - 1]/2)))
        else:
            self.ser_port.flushOutput()
            time.sleep(0.05)
            # absolute move with X_Y_Z_move_\r\n
            # relative move with X_Y_Z_rmove_\r\n
            self.ser_port.write('0 0 0 rmove \r\n')                
    else:
        self.ser_port.flushOutput()
        time.sleep(0.05)
        self.ser_port.write('0 0 0 rmove \r\n')