LinMot
LinMot
LinMot
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Motion Control SW<br />
L i n M o t ®<br />
4.3.13 VAI Go To Pos From Act Pos Starting With Dem Vel = 0<br />
(014xh)<br />
Name Byte Description Type Unit<br />
Offset<br />
Header 0 014xh: VAI Go To Pos From Act Pos Starting With UInt16 -<br />
Dem Vel =0<br />
1. Par 2 Target Position SInt32 0.1 um<br />
2. Par 6 Maximal Velocity UInt32 1E-6 m/s<br />
3. Par 10 Acceleration UInt32 1E-5 m/s 2<br />
4. Par 14 Deceleration UInt32 1E-5 m/s 2<br />
This command starts the new VAI setpoint generation from the actual position and the start<br />
velocity is forced to zero. Can be used after a press command.<br />
4.3.14 VAI Increment Act Pos (015xh)<br />
Name Byte Description Type Unit<br />
Offset<br />
Header 0 015xh: VAI Increment Act Pos UInt16 -<br />
1. Par 2 Position Increment SInt32 0.1 um<br />
2. Par 6 Maximal Velocity UInt32 1E-6 m/s<br />
3. Par 10 Acceleration UInt32 1E-5 m/s 2<br />
4. Par 14 Deceleration UInt32 1E-5 m/s 2<br />
This command sets a new target position and defines the maximal velocity, acceleration and<br />
deceleration for going there. The new target position value will be determined by the<br />
firmware. It is calculated by adding the position increment argument to the actual position.<br />
The actual position is the effective motor position. This command can be used to perform a<br />
retraction move after a press command. If the position increment argument is zero, this<br />
command defines the actual motor position as new setpoint.<br />
4.3.15 VAI Increment Act Pos Starting With Dem Vel = 0 (016xh)<br />
Name Byte Description Type Unit<br />
Offset<br />
Header 0 016xh: VAI Increment Act Pos Starting With Dem UInt16 -<br />
Vel = 0<br />
1. Par 2 Position Increment SInt32 0.1 um<br />
2. Par 6 Maximal Velocity UInt32 1E-6 m/s<br />
3. Par 10 Acceleration UInt32 1E-5 m/s 2<br />
4. Par 14 Deceleration UInt32 1E-5 m/s 2<br />
This command starts the new VAI setpoint generation from the actual position and the start<br />
velocity is forced to zero. This command defines the maximal velocity, acceleration and<br />
deceleration for going to the target position. The new target position value will be determined<br />
by the firmware. It is calculated by adding the position increment argument to the actual<br />
position. The actual position is the effective motor position. This command can be used to<br />
perform a retraction move after a press command. If the position increment argument is zero,<br />
then this command defines the actual motor position as new setpoint.<br />
NTI AG / <strong>LinMot</strong> User Manual Motion Control SW/ 07.09.2011 Page 31/105
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