LinMot

Motion Control SW
L i n M o t ®
4.3.76 VAI 16 Bit Go To Pos From Act Pos And Act Vel (093xh)
Name Byte Description Type Unit
Offset
Header 0 093xh: VAI 16 Bit Go To Pos From Act Pos And Act UInt16 -
Vel
1. Par 2 Target Position SInt16 Scaled
2. Par 4 Maximal Velocity UInt16 Scaled
3. Par 6 Acceleration UInt16 Scaled
4. Par 8 Deceleration UInt16 Scaled
This command starts the new VAI setpoint generation from the actual position, can be used
after a press command.
4.3.77 VAI 16 Bit Go To Pos From Act Pos Starting With Dem Vel = 0
(094xh)
Name Byte Description Type Unit
Offset
Header 0 094xh: VAI 16 Bit Go To Pos From Act Pos Starting UInt16 -
With Dem Vel = 0
1. Par 2 Target Position SInt16 Scaled
2. Par 4 Maximal Velocity UInt16 Scaled
3. Par 6 Acceleration UInt16 Scaled
4. Par 8 Deceleration UInt16 Scaled
This command starts a the new VAI-Setpoint generation from the actual position and the
start velocity is forced to zero. Can be used after a press command.
4.3.78 VAI 16 Bit Increment Act Pos (095xh)
Name Byte Description Type Unit
Offset
Header 0 095xh: VAI 16 Bit Increment Act Pos UInt16 -
1. Par 2 Position Increment SInt16 Scaled
2. Par 4 Maximal Velocity UInt16 Scaled
3. Par 6 Acceleration UInt16 Scaled
4. Par 8 Deceleration UInt16 Scaled
4.3.79 VAI 16 Bit Increment Act Pos Starting With Dem Vel = 0
(096xh)
Name Byte Description Type Unit
Offset
Header 0 096xh: VAI 16 Bit Increment Act Pos UInt16 -
1. Par 2 Position Increment SInt16 Scaled
2. Par 4 Maximal Velocity UInt16 Scaled
3. Par 6 Acceleration UInt16 Scaled
4. Par 8 Deceleration UInt16 Scaled
4.3.80 VAI 16 Bit Stop (097xh)
Name Byte Description Type Unit
Offset
Header 0 097xh: VAI 16 Bit Stop UInt16 -
1. Par 2 Deceleration UInt16 Scaled
NTI AG / LinMot User Manual Motion Control SW/ 07.09.2011 Page 47/105