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4 Functional Description
4.1 Position control
In this operating mode, target positions can be preset via the serial interface:
Setting: CONTMOD or ENCMOD and SOR0 operating mode
Profile and controller parameters are executed via the FAULHABER basic setting commands (see
chapter 5.1.3 "General parameters"). In particular the acceleration values AC and DEC, the maximum
speed SP, the current limitation values LPC and LCC, as well as the controller parameters POR, I, PP
and PD must be adapted to the respective application. The positioning range limits can be set via
the command LL and activated via APL.
The positioning is executed via the FAULHABER motion control commands:
Command Function
Description
LA
Load Absolute Position
Load new absolute target position
Value: -1.8 · 10
9
…1.8 · 10
9
LR
Load Relative Position
Load new relative target position, in relation to last
started target position. The resulting absolute target
position must lie between the values given below.
Value: -2.14 · 10
9
and 2.14 · 10
9
M
Initiate Motion
Activate position control and start positioning
Example:
1.) Load target position:
LA40000
2.) Start positioning:
M
Attainment of the target position or any intermediate position is indicated by a “p” if “Notify Posi-
tion” is set before the start of positioning, provided that ANSW1 or ANSW2 is set:
Command Function
Description
NP
Notify Position
Without argument:
A “p” is returned when the target position is at-
tained.
With argument:
A “p” is returned when the specified position is over-
travelled..
NPOFF
Notify Position Off
Notify Position command that has not yet been trig-
gered is deactivated again.
If the linear Hall sensors of the brushless motors are used as position transducers (3564K024B CS,
MCBL 3003/06 S), 3000 pulses per revolution are supplied. The COMPATIBLE1 command can be used
to switch to 1000 pulses per revolution, in order to retain compatibility with the predecessor models
(3564K024B C, MCBL 2805).
In COMPATIBLE1 mode, when the AC value is changed the DEC value is also set to the same value,
and the positioning range limits divided by 3, additional the parameter SR will be changed from 1 to
18 (1.8 ms scanning rate from MC..2805). Independent for them, the user can readjust SR.
In the case of APL0, relative positioning can also be executed beyond the range limits. If the upper
(1800000000) or lower limit (-1800000000) is exceeded, counting is continued at 0 without loss of
increments.
