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Motion Control SW
4.3.112 VAI Dec=Acc Go To Pos From Act Pos And Act Vel (0C3xh)
Name Byte Description Type Unit
Offset
Header 0 0C3xh: VAI Dec=Acc Go To Pos From Act Pos And UInt16 -
Act Vel
1. Par 2 Target Position SInt32 0.1 um
2. Par 6 Maximal Velocity UInt32 1E-6 m/s
3. Par 10 Acceleration = Deceleration UInt32 1E-5 m/s 2
This command starts a new VAI setpoint generation from the actual position and actual
velocity. Can be used after a press command.
4.3.113 VAI Dec=Acc Go To Pos From Act Pos Starting With Dem Vel
= 0 (0C4xh)
Name Byte Description Type Unit
Offset
Header 0 0C4xh: VAI Dec=Acc Go To Pos From Act Pos UInt16 -
Starting With Dem Vel =0
1. Par 2 Target Position SInt32 0.1 um
2. Par 6 Maximal Velocity UInt32 1E-6 m/s
3. Par 10 Acceleration = Deceleration UInt32 1E-5 m/s 2
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.
4.3.114 VAI Dec=Acc Go To Pos With Max Curr (0C5xh)
Name Byte Description Type Unit
Offset
Header 0 0C5xh: VAI Dec=Acc Go To Pos With Max Curr UInt16 -
1. Par 2 Target Position SInt32 0.1 um
2. Par 6 Maximal Velocity UInt32 1E-6 m/s
3. Par 10 Acceleration = Deceleration UInt32 1E-5 m/s 2
4. Par 14 Demand Curr Limit Uint16 1mA
This command can be used as press command with limited current (force). This command
sets the maximal current of the actual position controller set (UPID 13A6h or 13Bah) to the
value defined with the 4 th parameter. To reset the current to the normal value, use the
command 0C6xh or 0C7xh.
Page 54/105 User Manual Motion Control SW / 07.09.2011 NTI AG / LinMot