Setup and Reference Guide - Kollmorgen

MHINVC
MHINVC is a variable which applies to encoder-based systems which use hall switches to commutate. This
variable inverts the hall sensor C feedback, causing the system to read the ‘C’ hall channel as inverted data.
MHINVC = 0: do not invert hall C
MHINVC = 1: invert hall C
Firmware Versions: All Type: switch (R/W) Units: N/A
Range: 0, 1 Default: 0 EEPROM: Yes
Opmodes: All Drive Status: DIS
MI
This command (Serial Move Incremental) incrementally moves the specified distance at the specified speed. A
positive incremental move occurs in the direction determined by the variable DIR, and a negative incremental
move occurs 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, outputs an
exclamation point (!) over the serial port. The exclamation point is tied to the STOPPED flag and is issued
when STOPPED transitions from 0 to 1.
Position is in feedback counts. Issuing an MI command while the motor is not stopped causes the command to
be buffered for later execution. No more than one command is buffered. is always given in RPM or
mm/sec and is not affected by Units. See INPOS, MA, PCMD, PEINPOS, PFB, 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: MI [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:
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)
For very slow moves, set VLIM as low as possible before setting less
than 1 in MI and MA. This can only be set in firmware version 3.7.0 and higher.
MICONT
Sets the motor’s continuous rated current. When this variable is changed, the drive enters a no-comp state,
requiring a CONFIG command (see CONFIG).
Firmware Versions: All Type: variable (R/W) Units: amperes RMS*0.1
Range: 1 to 1750 Default: motor data EEPROM: Yes
Opmodes: All Drive Status: DIS
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