LinMot

Motion Control SW
L i n M o t ®
This command defines a new Bestehorn motion command (relative move\c see description
of command Bestehorn VAJ Increment Demand Pos (0F1xh)'). The command will be started
on each falling edge on the Trigger signal. This command is used to synchronize the
execution of the motion command to a hardware signal. The command activates the
Event Handler (see Status Word bit 8). The Event Handler starts the new Bestehorn motion
on the falling trigger event. The Event Handler can be deactivated by using the command
'Clear Event Evaluation (008xh)'. The trigger input must be configured with parameter
$1039.
4.3.150 Encoder Cam Enable (100xh)
Name Byte Description Type Unit
Offset
Header 0 100xh: Encoder CAM Enable UInt16 -
4.3.151 Encoder Cam Disable (101xh)
Name Byte Description Type Unit
Offset
Header 0 101xh: Encoder CAM Disable UInt16 -
4.3.152 Encoder Cam Go To Sync Pos (102xh)
Name Byte Description Type Unit
Offset
Header 0 102xh: Encoder CAM Go To Sync Pos UInt16 -
4.3.153 Encoder Cam Set Value (104xh)
Name Byte Description Type Unit
Offset
Header 0 104xh: Encoder CAM Set Value UInt16 -
1. Par 2 Counter Value SInt32 1 Incr.
4.3.154 Encoder Cam y Define Curve With Default Parameters (1y0xh)
At the moment two cams can be defined. In the following y=1 stands for cam 1 and y=2
stands for cam 2.
Name Byte Description Type Unit
Offset
Header 0 1y0xh: Encoder Cam y Define Curve With Default UInt16 -
Parameters (y=1..2)
1. Par 2 Curve ID UInt16 1..100
2. Par 4 Curve Start Count SInt32 1 Incr.
NTI AG / LinMot User Manual Motion Control SW/ 07.09.2011 Page 65/105