LinMot

Motion Control SW
L i n M o t ®
period length. Between the setpoints, the slave performs a fine interpolation. Since
acceleration setpoint derivation is less sensitive to bus jitters, it is recommended to use this
command (PV streaming) instead of the simple P streaming command whenever possible.
For the derivation of the velocity and the acceleration the configured streaming period time
14E6h is taken to minimize communication time jittering.
4.3.42 PVA Stream With Slave Generated Time Stamp (034xh)
Name Byte Description Type Unit
Offset
Header 0 034xh: PVA Stream With Slave Generated Time UInt16 -
Stamp
1. Par 2 Position SInt32 0.1 um
2. Par 6 Velocity SInt32 1 um/s
3. Par 10 Acceleration SInt32 1E-5m/s 2
This command can be used for cyclic position, velocity and acceleration setpoint streaming.
This is possible if master provides NC functionality. The commands have to be sent strictly
cyclic in order to prevent buffer underflow/buffer overflow errors. The period length should be
in the time range of 0.4ms .. 10ms. The setpoint time stamp is generated by the slave's
interface when the command is received (receive time stamp). The first two streaming
commands are used to determine the nominal period length. The setpoints are Than delayed
1.5 times the period length. Between the setpoints, the slave performs a fine interpolation.
For good results the streaming period has to be as constant as possible.
4.3.43 PVA Stream With Slave Generated Time Stamp and
Configured Period Time (035xh)
Name Byte Description Type Unit
Offset
Header 0 035xh: PVA Stream With Slave Generated Time UInt16 -
Stamp and Configured Period Time
1. Par 2 Position SInt32 0.1 um
2. Par 6 Velocity SInt32 1 um/s
3. Par 10 Acceleration SInt32 1E-5m/s 2
This command can be used for cyclic streaming of position, velocity and acceleration
setpoints. This is possible if master provides NC functionality. The commands have to be
sent strictly cyclic in order to prevent buffer underflow/buffer overflow errors. The period
length must be in the time range of 0.4ms .. 10ms. The setpoint time stamp is generated by
the slave's interface when the command is received (receive time stamp). The first two
streaming commands are used to determine the nominal period length. The setpoints are
Than delayed 1.5 times the period length. Between the setpoints, the slave performs a fine
interpolation. Since acceleration setpoint derivation is less sensitive to bus jitters, it is
recommended to use this command (PVA streaming) instead of the simple P streaming
command whenever possible. For the derivation of the velocity and the acceleration the
configured streaming period time 14E6h is taken to minimize communication time jittering.
NTI AG / LinMot User Manual Motion Control SW/ 07.09.2011 Page 37/105