LinMot

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Motion Control SW
4.3.10 VAI Increment Dem Pos (011xh)
Name Byte Description Type Unit
Offset
Header 0 011xh:VAI Increment Dem Pos UInt16 -
1. Par 2 Position Increment SInt32 0.1 um
2. Par 6 Maximal Velocity UInt32 1E-6 m/s
3. Par 10 Acceleration UInt32 1E-5 m/s 2
4. Par 14 Deceleration UInt32 1E-5 m/s 2
This command sets a new target position and defines the maximal velocity, acceleration and
deceleration for going there. The new target position value will be determined by the
firmware. It is calculated by adding the position increment argument to the demand position
value. The demand position is the actual position setpoint on which the motor is controlled.
The demand position value moves towards the target position value while a motion
command is in execution.
4.3.11 VAI Increment Target Pos (012xh)
Name Byte Description Type Unit
Offset
Header 0 012xh: VAI Increment Target Pos UInt16 -
1. Par 2 Position Increment SInt32 0.1 um
2. Par 6 Maximal Velocity UInt32 1E-6 m/s
3. Par 10 Acceleration UInt32 1E-5 m/s 2
4. Par 14 Deceleration UInt32 1E-5 m/s 2
This command sets a new target position and defines the maximal velocity, acceleration and
deceleration for going there. The new target position value will be determined by the
firmware. It is calculated by adding the position increment argument to the (former) target
position. The target position is the motion’s end position and doesn’t change during the
execution of a motion command.
4.3.12 VAI Go To Pos From Act Pos And Act Vel (013xh)
Name Byte Description Type Unit
Offset
Header 0 013xh: VAI Go To Pos From Act Pos And Act Vel UInt16 -
1. Par 2 Target Position SInt32 0.1 um
2. Par 6 Maximal Velocity UInt32 1E-6 m/s
3. Par 10 Acceleration UInt32 1E-5 m/s 2
4. Par 14 Deceleration UInt32 1E-5 m/s 2
This command starts the new VAI setpoint generation from the actual position and actual
velocity. Can be used after a press command.
Page 30/105 User Manual Motion Control SW / 07.09.2011 NTI AG / LinMot