LinMot
LinMot
LinMot
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Motion Control SW<br />
L i n M o t ®<br />
4 Motion Command Interface<br />
4.1 Motion Command Interface<br />
The motion command interface consists of one word that contains the command ID, and up<br />
to 16 command parameter words. Example: ‘VA-Interpolator 16 bit Go To Absolute Position’<br />
Word Description Example of command<br />
1. Command Header with ID Go To Absolute Position Immediate<br />
2. 1. Command Parameter Position<br />
3. 2. Command Parameter Maximal Speed<br />
4. 3. Command Parameter Acceleration<br />
5. 4. Command Parameter Deceleration<br />
6.-16. 5. - Command Parameter Not used<br />
4.1.1 Command Header<br />
Master ID Sub ID Command Count<br />
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0<br />
The header of the Motion command is split into three parts:<br />
• Master ID<br />
• Sub ID<br />
• Command Count<br />
4.1.1.1 Master ID<br />
The master ID specifies the command group.<br />
4.1.1.2 Sub ID<br />
The sub ID is used to identify different commands from the same command group.<br />
4.1.1.3 Command Count<br />
A new command will only be executed, if the value of the command count has changed. In<br />
the easiest way bit 0 can be toggled.<br />
NTI AG / <strong>LinMot</strong> User Manual Motion Control SW/ 07.09.2011 Page 21/105
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