LinMot

Motion Control SW
L i n M o t ®
4.3.85 VAI 16 Bit Increment Target Pos On Falling Trigger Event
(09Dxh)
Name Byte Description Type Unit
Offset
Header 0 09Dxh: VAI 16 Bit Increment Target Pos On Falling UInt16 -
Trigger Event
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
4.3.86 VAI 16 Bit Change Motion Parameters On Positive Position
Transition (09Exh)
Name Byte Description Type Unit
Offset
Header 0 09Exh: VAI 16 Bit Change Motion Parameters On UInt16 -
Positive Position Transition
1. Par 2 Transition Event Position SInt16 Scaled
2. Par 4 Max Velocity After Event UInt16 Scaled
3. Par 6 Acceleration After Event UInt16 Scaled
4. Par 8 Deceleration After Event UInt16 Scaled
As soon as the demand position crosses the event change position in positive direction the
parameters for velocity, acceleration and deceleration will be changed to the values defined
in the command.
4.3.87 VAI 16 Bit Change Motion Parameters On Negative Position
Transition (09Fxh)
Name Byte Description Type Unit
Offset
Header 0 09Exh: VAI Change Motion Parameters on UInt16 -
Negative Position Transition
1. Par 2 Transition Event Position SInt16 Scaled
2. Par 4 Max Velocity After Event UInt16 Scaled
3. Par 6 Acceleration After Event UInt16 Scaled
4. Par 8 Deceleration After Event UInt16 Scaled
As soon as the demand position crosses the event change position in negative direction the
parameters for velocity, acceleration and deceleration will be changed to the values defined
in the command.
4.3.88 Predef VAI 16 Bit Go To Pos (0A0xh)
Name Byte Description Type Unit
Offset
Header 0 0A0xh: Predef VAI 16 Bit Go To Pos UInt16 -
1. Par 2 Target Position SInt16 Scaled
NTI AG / LinMot User Manual Motion Control SW/ 07.09.2011 Page 49/105