LinMot
LinMot
LinMot
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Motion Control SW<br />
L i n M o t ®<br />
4.3.123 VAI 16 Bit Dec=Acc Go To Pos (0D1xh)<br />
Name Byte Description Type Unit<br />
Offset<br />
Header 0 0D1xh: VAI 16 Bit Dec=Acc Go To Pos UInt16 -<br />
1. Par 2 Target Position SInt16 Scaled<br />
2. Par 4 Maximal Velocity UInt16 Scaled<br />
3. Par 6 Acceleration / Deceleration UInt16 Scaled<br />
This command sets a new Target Position and defines the maximal velocity, acceleration<br />
and deceleration for going there. The Target Position is calculated by adding the Position<br />
Increment argument and the value of the capture variable $1E62. The command<br />
execution starts immediately when the command has been sent. The setpoints (Demand<br />
Position\c Demand Velocity and Demand Acceleration) are calculated by the internal Velocity<br />
Acceleration Interpolator (VAI). This command initializes the VAI with the current Demand<br />
Position and Demand Velocity value. Therefore it is possible to start a new command, while<br />
execution of a former command is not fully completed.<br />
4.3.124 VAI Go To Cmd Tab Var1 Pos (0D4xh)<br />
Name Byte Description Type Unit<br />
Offset<br />
Header 0 0D4xh: VAI Go To Cmd Tab Var1 Pos UInt16 -<br />
1. Par 2 Maximal Velocity UInt32 1E-6 m/s<br />
2. Par 6 Acceleration UInt32 1E-5 m/s 2<br />
3. Par 10 Deceleration UInt32 1E-5 m/s 2<br />
Go to the target position defined with the command table variable 1 (UPID 1E72h).<br />
4.3.125 VAI Go To Cmd Tab Var2 Pos (0D5xh)<br />
Name Byte Description Type Unit<br />
Offset<br />
Header 0 0D5xh: VAI Go To Cmd Tab Var2 Pos UInt16 -<br />
1. Par 2 Maximal Velocity UInt32 1E-6 m/s<br />
2. Par 6 Acceleration UInt32 1E-5 m/s 2<br />
3. Par 10 Deceleration UInt32 1E-5 m/s 2<br />
Go to the target position defined with the command table variable 2 (UPID 1E73h).<br />
4.3.126 VAI Go To Cmd Tab Var1 Pos From Act Pos And Act Vel<br />
(0D6xh)<br />
Name Byte Description Type Unit<br />
Offset<br />
Header 0 0D6xh: VAI Go To Cmd Tab Var1 Pos From Act UInt16 -<br />
Pos And Act Vel<br />
1. Par 2 Maximal Velocity UInt32 1E-6 m/s<br />
2. Par 6 Acceleration UInt32 1E-5 m/s 2<br />
3. Par 10 Deceleration UInt32 1E-5 m/s 2<br />
Go to the target position defined with the command table variable 1 (UPID 1E72h) starting<br />
from actual position and with actual velocity.<br />
NTI AG / <strong>LinMot</strong> User Manual Motion Control SW/ 07.09.2011 Page 57/105
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