LinMot

Motion Control SW
L i n M o t ®
4.3.68 Setup Encoder Cam On Falling Trigger Event With Delay
Counts, Amplitude scale and Length (06Exh)
Name Byte Description Type Unit
Offset
Header 0 06Exh: Setup Encoder Cam On Fall Trigger Event UInt16 -
With Delay Counts, Amplitude scale and Length
1. Par 2 Curve ID UInt16 1..100
2. Par 4 Curve Start Delay Count SInt32 1 Incr
3. Par 8 Amplitude Scale Sint16 0.1 %
4. Par 10 Curve length in Counts 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.
4.3.69 Start VAI Encoder Position Indexing (070xh)
Name Byte Description Type Unit
Offset
Header 0 070xh: Start VAI Encoder Position Indexing 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
Changes to the VAI encoder position indexing mode, the actual encoder count is to the target
position. To stop the indexing mode use one of the commands (008xh), (07Exh) or (07Fxh).
4.3.70 Start Predef VAI Encoder Position Indexing (071xh)
Name Byte Description Type Unit
Offset
Header 0 071xh: Start Predef VAI Encoder Position Indexing UInt16 -
1. Par 2 Target Position SInt32 0.1 um
Changes to the VAI encoder position indexing mode, the actual encoder count is to the target
position. The VAI parameters maximal velocity, acceleration and deceleration are ones taken
at calling time from the predefined VAI parameter set (UPIDs: 14BEh, 14BF and 14C0h). To
stop the indexing mode use one of the commands (008xh), (07Exh) or (07Fxh).
4.3.71 Stop Position Indexing and VAI Go To Pos (07Exh)
Name Byte Description Type Unit
Offset
Header 0 07Exh: Stop Position Indexing And VAI Go To Pos 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 stops the position indexing mode and moves to the defined target position
with a VAI command.
NTI AG / LinMot User Manual Motion Control SW/ 07.09.2011 Page 45/105