The controller position algorithm allows you to move the motor from an initial position to a desired position. The motor starts with a controlled acceleration, reaches a desired velocity, and decelerates at a controlled rate to stop precisely at the end position. The graph below shows the speed and position vs time during a position move.

In this mode, the command is a value ranging from -1000 to +1000 and can be issued from the serial/USB, analog input, pulse input, or from a MicroBasic script. The feedback sensor range is scaled to a -1000 to +1000 value as well. On analog and pulse sensors, the scaling is done using the min/max/center configuration parameters. When encoders are used for feedback, the encoder count is also converted into a -1000 to +1000 range. In the encoder case, the scaling uses the Encoder Min and Max configuration parameters. Beware that encoders counters produce incremental values. The encoder counters must be reset using the homing procedure before they can be used as position feedback sensors.

When turning the controller on, the default acceleration, deceleration and velocity are parameters retrieved from the configuration EEPROM. In most applications, these parameters can be left unchanged and only change in commands used to control the change from one position to the other. In more sophisticated systems, the acceleration, deceleration and velocity can be changed on the fly using Serial/USB commands or from within a MicroBasic script.

When using Encoders as feedback sensors, the controller can accurately measure the speed and the number of motor turns that have been performed at any point in time. The complete positioning algorithm can be performed with the parameters described above.
When using analog or pulse sensors as feedback, the system does not have a direct way to measure speed or number of turns. It is therefore necessary to configure an additional parameter in the controller which determines the number of motor turns between the point the feedback sensor gives the minimum feedback value (-1000) to the maximum feedback value (+1000). See the controller's User's Manual for a more detailed description.