67
5 Parameter description
5.4 Motion control commands
Command
Argument
Function
Description
DI
–
Disable Drive
Deactivate drive
EN
–
Enable Drive
Activate drive
M
–
Initiate Motion
Activate position control and start positioning
LA
Value
Load Absolute
Position
Load new absolute target position
Value: -1.8 · 10
9
…1,8 · 10
9
LR
Value
Load Relative Posi-
tion
Load new relative target position, in relation to last started target posi-
tion. The resulting absolute target position must lie between the values
given below.
Value: -2.14 · 10
9
and 2.14 · 10
9
NP
– / Value
Notify Position
Without argument:
A “p” is returned when the target position is attained.
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 triggered is deactivated
again.
V
Value
Select Velocity
Mode
Activate velocity mode and set specified value as target velocity (veloc-
ity control).
Unit: rpm
NV
Value
Notify Velocity
A “v” is returned when the nominal speed is reached or travelled
through.
Value: -30 000…30 000
NVOFF
–
Notify Velocity Off Velocity command that has not yet been triggered is deactivated again.
U
Value
Set Output Voltage Output motor voltage (corresponds to -Uv…+Uv) with SOR0 only
Value: -32 767…32 767
GOHOSEQ
–
Go Homing Se-
quence
Execute FAULHABER homing sequence. A homing sequence is executed
(if programmed) irrespective of the current mode.
GOHIX
–
Go Hall Index
Move BL motor to Hall zero point (Hall index) and set actual position
value to 0 (not with MCDC)
GOIX
–
Go Encoder Index
Move to the encoder index at the Fault pin and set actual position value
to 0 (DC motor or ext. encoder).
HO
– / Value
Define Home Posi-
tion
Without argument:
Set actual position to 0.
With argument:
Set actual position to specified value.
Value: –1.8 · 10
9
…+1,8 · 10
9
