Setup and Reference Guide - Kollmorgen

MA
This command (Serial Move Absolute) moves to the specified position at the specified speed. Motion could
occur in either direction, depending upon the relationship between the starting position and the commanded
position. The current position of the motor can be read using PFB.
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 MA command while the motor is not stopped causes the command to
be buffered. is always given in RPM or mm/sec and is not affected by Units. See INPOS, MI,
PCMD, PEINPOS, PFB, and STOPPED.
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: MA [in pos ack]
Opmodes: 8
Drive Status: EN
Range: -LONG to LONG (feedback counts)*
1 to VMAX (rpm or mm/sec)
[in pos ack]0 or 1 (optional)
Example:
MA 10000 1000 (Move to absolute position 10,000 at a speed of 1,000 RPM)
MA -5000 100 1 (Move to absolute position -5000 at a speed of 100 RPM; transmit a (!) to the
serial port when the move is completed)
*Actual move distance (position about to be commanded – present commanded
position) must not exceed ±2,147,482,647 counts or the motion occurs in the
opposite direction.
For very slow moves, set VLIM as low as possible before setting less
than 1 in MA and MI. This can only be set in firmware version 3.7.0 and higher.
MAPOS
Sets the absolute position for IN1MODE=13, or IN2MODE=13, or IN3MODE=13. Position is in counts, where
65536 counts represent one motor revolution for resolver systems, and 4*MENCRES counts represents on
motor revolution for encoder systems.
When IN1MODE, IN2MODE, or IN3MODE is set equal to 13, and the associated digital input (IN1, IN2, or
IN3) goes high, the drive moves to MAPOS at a speed of MASPEED.
Firmware Versions: 3.1.0 and later Type: variable (R/W) Units: counts
Range: - 2,147,483,647 to + 2,147,483,647 * Default:0 EEPROM: Yes
Opmodes: 8 Drive Status: EN/DIS
*Actual move distance (position about to be commanded – present commanded position) must
not exceed ±2,147,482,647 counts or the motion occurs in the opposite direction.
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