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L i n M o t ® Motion Control SW On a falling trigger event start command 045xh. 4.3.53 Time Curve To Pos With Default Speed On Rising Trigger Event (04Axh) Name Byte Description Type Unit Offset Header 0 04Axh: Time Curve To Pos With Default Speed On UInt16 - Rising Trigger Event 1. Par 2 Curve ID UInt16 1..100 2. Par 4 Target Position SInt32 0.1 um On a rising trigger event start command 042xh. 4.3.54 Time Curve To Pos With Default Speed On Falling Trigger Event (04Cxh) Name Byte Description Type Unit Offset Header 0 04Cxh: Time Curve To Pos With Default Speed On UInt16 - Falling Trigger Event 1. Par 2 Curve ID UInt16 1..100 2. Par 4 Target Position SInt32 0.1 um On a falling trigger event start command 042xh. 4.3.55 Time Curve To Pos With Adjustable Time On Rising Trigger Event (04Exh) Name Byte Description Type Unit Offset Header 0 04Exh: Time Curve Go To Absolute Position With UInt16 - Adjustable Time On Rising Trigger Event 1. Par 2 Curve ID UInt16 1..100 2. Par 4 Target Position SInt32 0.1 um 3 Par 8 Curve Time SInt32 10us On a rising trigger event start command 043xh. 4.3.56 Time Curve To Pos With Adjustable Time On Falling Trigger Event (04Fxh) Name Byte Description Type Unit Offset Header 0 04Fxh: Time Curve To Pos With Adjustable Time UInt16 - On Falling Trigger Event 1. Par 2 Curve ID UInt16 1..100 2. Par 4 Target Position SInt32 0.1 um 3 Par 8 Curve Time SInt32 10us On a falling trigger event start command 043xh. 4.3.57 Modify Curve Start Address in RAM (050xh) Name Byte Offset Description Type Unit Page 40/105 User Manual Motion Control SW / 07.09.2011 NTI AG / <strong>LinMot</strong>
Motion Control SW L i n M o t ® Header 0 050xh: Modify Curve Start Address in RAM UInt16 - 1. Par 2 Curve ID UInt16 1..100 2. Par 4 Curve Start Address Offset Uint16 - This command allows locating the curve start address (points to the start of the curve info header). A value of 0FFFh means no curve has been defined, can be used to clear a curve. When using this command the whole memory management of the curve data has to be done by the superior system! A curve can only be defined with a valid start address. If a start address is defined, the curve (curve info header and curve data points) has to be completely defined, otherwise this will lead to an unpredictable behavior! 4.3.58 Modify Curve Info Block 16 Bit Value in RAM (051xh) Name Byte Description Type Unit Offset Header 0 051xh: Modify Curve Info Block 16 Bit Value in UInt16 - RAM 1. Par 2 Curve ID UInt16 1..100 2. Par 4 Offset in Byte Uint16 0.. 3. Par 6 Value Sint16 - This command allows to modify a 16 bit value (or half of a 32 bit value) in RAM within the curve info block of an existing curve profile with the given ID. The offset argument defines on which position within the curve info block the modification takes place (byte offset). In order to modify for instance the value of x-Length you first have to set the low word of the new curve length with Offset 32 and then the high word with offset 34. The fieldbus interfaces (CANOpen, DeviceNet, Profibus, LinRS, POWERLINK, EtherCAT) offer a safer way to download and modify curve profiles (Curve Service). Writing with wrong offsets, may overwrite and destroy data of other curves and may lead to unpredictable behavior! 4.3.59 Modify Curve Info Block 32 Bit Value in RAM (052xh) Name Byte Description Type Unit Offset Header 0 052xh: Modify Curve Info Block 32 Bit Value in UInt16 - RAM 1. Par 2 Curve ID UInt16 1..100 2. Par 4 Offset in Byte Uint16 0.. 3. Par 6 Value Sint32 - This command allows to modify a 32 bit value in RAM within the curve data block of an already existing curve profile with the given ID. The offset argument defines on which position within the curve data block the modification takes place (byte offset). In order to modify for instance the first position setpoint value (SInt32) you have to set the new position with offset 0. The second setpoint has offset 4, and so on. The fieldbus interfaces (CANOpen, DeviceNet, Profibus, LinRS, POWERLINK, EtherCAT) offer a safer way to download and modify curve profiles (Curve Service). Writing with wrong offsets, may overwrite and destroy data of other curves and may lead to unpredictable behavior! NTI AG / <strong>LinMot</strong> User Manual Motion Control SW/ 07.09.2011 Page 41/105
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