LinMot
LinMot
LinMot
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Motion Control SW<br />
L i n M o t ®<br />
4.3.144 Bestehorn VAJ Go To Pos After Actual Command (0F8xh)<br />
Name Byte Description Type Unit<br />
Offset<br />
Header 0 0F8xh: Bestehorn VAJ Go To Pos After Actual UInt16 -<br />
Command<br />
1. Par 2 Target Position SInt32 0.1 um<br />
2. Par 6 Maximal Velocity UInt32 1E-6 m/s<br />
3. Par 10 Acceleration UInt32 1E-5 m/s 2<br />
4. Par 14 Jerk UInt32 1E-4 m/s 3<br />
Bestehorn Motion Profile, regarding the limitations maximal jerk, acceleration and maximal<br />
speed. The command execution is delayed until the former command has been completed.<br />
The command activates the Event Handler (see Status Word bit 8). The Event Handler<br />
starts the new VAI motion command as soon as bit 13 of the Status Word (Motion Active) is<br />
0. After the event\c the Event Handler deactivates itself.<br />
4.3.145 Bestehorn VAJ Go To Analog Pos (0F9xh)<br />
Name Byte Description Type Unit<br />
Offset<br />
Header 0 0F9xh: Bestehorn VAJ Increment Actual 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 Jerk UInt32 1E-4 m/s 3<br />
Bestehorn Motion Profile, regarding the limitations maximal jerk, acceleration and maximal<br />
speed. This command sets a new Target Position Calculated from the analog input on X4.4<br />
or X20.<br />
4.3.146 Bestehorn VAJ Go To Pos On Rising Trigger Event (0FAxh)<br />
Name Byte Description Type Unit<br />
Offset<br />
Header 0 0FAxh: Bestehorn VAJ Go To Pos On Rising UInt16 -<br />
Trigger Event<br />
1. Par 2 Target Position SInt32 0.1 um<br />
2. Par 6 Maximal Velocity UInt32 1E-6 m/s<br />
3. Par 10 Acceleration UInt32 1E-5 m/s 2<br />
4. Par 14 Jerk UInt32 1E-4 m/s 3<br />
This command defines a new Bestehorn motion command (see description of command<br />
Bestehorn VAJ Go To Pos (0F0xh)'). The command will be started on each rising edge on<br />
the Trigger signal. This command is used to synchronize the execution of the motion<br />
command to a hardware signal. The command activates the Event Handler (see Status<br />
Word bit 8). The Event Handler starts the new Bestehorn motion on the rising trigger event.<br />
The Event Handler can be deactivated by using the command 'Clear Event Evaluation<br />
(008xh)'. The trigger input must be configured with parameter $1039.<br />
NTI AG / <strong>LinMot</strong> User Manual Motion Control SW/ 07.09.2011 Page 63/105
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