LinMot

Motion Control SW
L i n M o t ®
4.3.115 VAI Dec=Acc Go To Pos From Act Pos And Vel With Max Curr
(0C6xh)
Name Byte Description Type Unit
Offset
Header 0 0C6xh: VAI Dec=Acc Go To Pos From Act Pos And UInt16 -
Vel With Max Curr
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 after the command 0C5xh to set the current to the normal value.
At the beginning of the motion the position controller integrator is cleared. 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.
4.3.116 VAI Dec=Acc Go To Pos From Act Pos And Vel = 0 With Max
Curr (0C7xh)
Name Byte Description Type Unit
Offset
Header 0 0C7xh: VAI Dec=Acc Go To Pos From Act Pos And UInt16 -
Vel = 0 With Max Curr
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 after the command 0C5xh to set the current to the normal value.
At the beginning of the motion the position controller integrator is cleared. 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.
4.3.117 VAI Dec=Acc Go To Pos After Actual Command (0C8xh)
Name Byte Description Type Unit
Offset
Header 0 0C8xh: VAI Dec=Acc Go To Pos After Actual UInt16 -
Command
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 waits until the actual motion setpoint generation has finished, then starts the
new defined VAI motion.
NTI AG / LinMot User Manual Motion Control SW/ 07.09.2011 Page 55/105