LinMot

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Motion Control SW
4.3.127 VAI Go To Cmd Tab Var2 Pos From Act Pos And Act Vel
(0D7xh)
Name Byte Description Type Unit
Offset
Header 0 0D7xh: VAI Go To Cmd Tab Var2 Pos From Act UInt16 -
Pos And Act Vel
1. Par 2 Maximal Velocity UInt32 1E-6 m/s
2. Par 6 Acceleration UInt32 1E-5 m/s 2
3. Par 10 Deceleration UInt32 1E-5 m/s 2
Go to the target position defined with the command table Variable 2 (UPID 1E73h) starting
from actual position and with actual velocity.
4.3.128 VAI Start Trig Rise Config VAI Command (0DExh)
Name Byte Description Type Unit
Offset
Header 0 0DExh: VAI Start Trig Rise Config VAI Command UInt16 -
This command starts the VAI motion command, defined with the parameters in Trig Rise
Config of the Triggered VA-Interpolator Run Mode settings.
4.3.129 VAI Start Trig Rise Config VAI Command (0DFxh)
Name Byte Description Type Unit
Offset
Header 0 0DFxh: VAI Start Trig Fall Config VAI Command UInt16 -
This command starts the VAI motion command, defined with the parameters in Trig Fall
Config of the Triggered VA-Interpolator Run Mode settings.
4.3.130 Sin VA Go To Pos (0E0xh)
Name Byte Description Type Unit
Offset
Header 0 0E0xh: Sin VA Go To Pos UInt16 -
1. Par 2 Target Position SInt32 0.1 um
2. Par 6 Maximal Velocity UInt32 1E-6 m/s
3. Par 10 Acceleration UInt32 1E-5 m/s 2
Half period sine motion profile, regarding the limitations of maximal acceleration and maximal
velocity.
4.3.131 Sin VA Increment Demand Pos (0E1xh)
Name Byte Description Type Unit
Offset
Header 0 0E1xh: Sin VA Increment Demand Pos UInt16 -
1. Par 2 Position Increment SInt32 0.1 um
2. Par 6 Maximal Velocity UInt32 1E-6 m/s
3. Par 10 Acceleration UInt32 1E-5 m/s 2
Page 58/105 User Manual Motion Control SW / 07.09.2011 NTI AG / LinMot