LinMot

Motion Control SW
L i n M o t ®
3.8 State 8: Operation Enabled
This is the state of the normal operation in which the motion commands are executed. It is
strongly recommended to use the State Var for the motion command synchronization with
any fieldbus system.
Main State = 8
State Var
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NTI AG / LinMot User Manual Motion Control SW/ 07.09.2011 Page 15/105
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Motion Command
Count
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
In the high byte stands the number of the main state = 8. In the low byte stands in the lowest
4 bits the actual interpreted ‘Motion Command Count’, bit 4 indicates if the event handler is
active, in bit 5 stands the status word bit ‘Motion Active’, in bit 6 the status word bit ‘In Target
Position’ and in bit 7 the status word bit ‘Homed’. Because the ‘Motion Command Count’
echo and this status word bits are located in the same byte no data consistency problem is
possible with any fieldbus.
A new motion command can be setup when the Motion Command Count has changed to the
last sent and the ‘Motion Active’ bit is 0 or the ‘In Target Position’ bit is 1 if an exact
positioning is required.
3.9 State 9: Homing
The homing state is used to define the position of the system according a mechanical
reference, a home switch or an index.
For LinMot motors the slider home position at this home position is taken to compensate
edge effects.
In the home sequence a position check of two positions and the motion to an initial position
can be added.
Hint: If a mechanical stop homing mode is chosen, the initial position should be a little apart
from this mechanical stop to avoid overheating of the motor.
3.10 State 10: Clearance Check
Setting the Clearance Check bit in the Control Word, two positions are moved to, to check if
the whole motion range is free. Normally this action is added to the homing sequence to
ensure that the homing was done correctly.
3.11 State 11: Going To Initial Position
Setting the Go To Initial Position bit in the control word, the servo moves to the initial
position, normally used to move away from the mechanical stop after homing, to protect the