### MA

Serial Move Absolute: this command will move 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 will cause the command to be ignored.

See also INPOS, MI, PCMD, PEINPOS, PFB, STOPPED.

Syntax/Range: MA <position> <velocity> [in pos ack]
<position> -LONG to LONG (feedback counts)
<velocity> 1 to VMAX (rpm or mm/sec)
[in pos ack] 0 or 1 (optional)
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: see above
Opmodes: 8 Drive Status: en

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)