LinMot

L i n M o t ®
Motion Control SW
4.3.89 Predef VAI 16 Bit Increment Dem Pos (0A1xh)
Name Byte Description Type Unit
Offset
Header 0 0A1xh: Predef VAI 16 Bit Increment Dem Pos UInt16 -
1. Par 2 Position Increment SInt16 Scaled
4.3.90 Predef VAI 16 Bit Increment Target Pos (0A2xh)
Name Byte Description Type Unit
Offset
Header 0 0A2xh: Predef VAI 16 Bit Increment Target Pos UInt16 -
1. Par 2 Position Increment SInt16 Scaled
4.3.91 Predef VAI 16 Bit Go To Pos From Act Pos And Act Vel
(0A3xh)
Name Byte Description Type Unit
Offset
Header 0 0A3xh: VAI 16 Bit Go To Pos From Act Pos And UInt16 -
Act Vel
1. Par 2 Target Position SInt16 Scaled
This command starts a new VAI setpoint generation from the actual position, can be used
after a press command.
4.3.92 Predef VAI 16 Bit Go To Pos From Act Pos Starting With Dem
Vel = 0 (0A4xh)
Name Byte Description Type Unit
Offset
Header 0 0A4xh: Predef VAI 16 Bit Go To Pos From Act Pos UInt16 -
Starting With Dem Vel = 0
1. Par 2 Target Position SInt16 Scaled
This command starts a new VAI setpoint generation from the actual position and the start
velocity is forced to zero. Can be used after a press command.
4.3.93 Predef VAI 16 Bit Stop (0A7xh)
Name Byte Description Type Unit
Offset
Header 0 0A7xh: Predef VAI Stop With Quick Stop UInt16 -
Deceleration
4.3.94 Predef VAI 16 Bit Go To Pos After Actual Command (0A8xh)
Name Byte Description Type Unit
Offset
Header 0 0A8xh: Predef VAI 16 Bit Go To Pos After Actual UInt16 -
Command
1. Par 2 Target Position SInt16 Scaled
This command waits until the actual motion setpoint generation has finished, then starts the
new defined VAI motion.
Page 50/105 User Manual Motion Control SW / 07.09.2011 NTI AG / LinMot