Danaher Motion
09/05
VARIABLE AND COMMAND LIST
VarCom Reference
M-SS-017-04 Rev. M
53
NOTE
*Actual move distance (position to be commanded –
present commanded position) must not exceed
±2,147,482,647 counts or motion occurs in the opposite
direction.
NOTE
For very slow moves, set VLIM as low as possible before
setting <velocity> 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)
Range:
- 2,147,483,647 to
+ 2,147,483,647 *
Default:
0
Opmodes:
8
Drive Status:
EN/DIS
Units:
counts
EEPROM:
Yes
NOTE
*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.
MASPEED
Sets the move speed (unsigned) for INxMODE=13. 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)
Range:
1 to VMAX
Default:
0
Opmodes:
8
Drive Status:
EN/DIS
Units:
rotary: rpm
EEPROM:
Yes
linear: mm/sec
MBEMF
Displays the motor’s back EMF constant. This value is used for current
loop controller design. This variable requires issuing a
CONFIG
when
changed.
Firmware Versions:
3.1.0 and later
Type:
variable (R/W)
Range:
1 to 3900
Default:
motor data
Opmodes:
All
Drive Status:
DIS
Units:
rotary: (V
RMS
) / krpm
linear: (V
Peak
) / (m/sec)
EEPROM:
Yes
