LinMot

Motion Control SW
L i n M o t ®
4.3.62 Modify Curve Data Block 96 Bit Value in RAM (056xh)
Name Byte Description Type Unit
Offset
Header 0 056xh: Modify Curve Data Block 96 Bit Value in Uint16 -
RAM
1. Par 2 Curve ID UInt16 1..100
2. Par 4 Offset in Byte Uint16 0..
3. Par 6 Curve point value Sint32 -
4. Par 10 Curve point value Sint32 -
4. Par 14 Curve point value Sint32 -
This command allows to modify in RAM three 32 bit value within the curve data block of a
curve with existing curve start address and curve info header block 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!
4.3.63 Setup Encoder Cam On Rising Trigger Event With Delay
Counts (069xh)
Name Byte Description Type Unit
Offset
Header 0 069xh: Setup Encoder Cam On Rising Trigger UInt16 -
Event With Delay Counts
1. Par 2 Curve ID UInt16 1..100
2. Par 4 Curve Start Delay Count UInt32 1 Incr
Setup in the event handler to start a cam curve on the rising trigger event with the specified
curve ID and the specified delay counts. The specified curve ID is written to the RAM value
of UPID 154Ah, and the specified cam start delay is written to the RAM value of UPID
154Ch. Use the infinite cam Length (UPID1527h) for triggered cam motions.
4.3.64 Setup Encoder Cam On Rising Trigger Event With Delay
Counts, Target Pos and Length (06Axh)
Name Byte Description Type Unit
Offset
Header 0 06Axh: Setup Encoder Cam On Rise Trigger Event UInt16 -
With Delay Counts, Target Pos and Length
1. Par 2 Curve ID UInt16 1..100
2. Par 4 Curve Start Delay Count SInt32 1 Incr
3. Par 8 Target Position SInt32 0.1 um
4. Par 12 Curve length SInt32 1 Incr
Setup in the event handler to start a cam curve on the rising trigger event with the specified
curve ID and the specified delay counts to specified target position in specified counts. The
specified curve ID is written to the RAM value of UPID 154Ah, and the specified cam start
delay is written to the RAM value of UPID 154Ch. Use the infinite cam length (UPID1527h)
for triggered cam motions.
NTI AG / LinMot User Manual Motion Control SW/ 07.09.2011 Page 43/105