LinMot

L i n M o t ®
Motion Control SW
Header 0 310xh: Encoder Curve Winding Start With Default UInt16 -
Parameters
1. Par 2 Curve ID UInt16 1..100
4.3.216 Encoder Curve Winding Start With Default Parameters At
Revolutions (311xh)
Name Byte Description Type Unit
Offset
Header 0 311xh: Encoder Curve Winding Start With Default UInt16 -
Parameters At Revolutions
1. Par 2 Curve ID UInt16 1..100
2. Par 4 Revolution Counts To Start SInt32 1 Rev
4.3.217 VAI Go To Pos With Higher Force Ctrl Limit (380xh)
Name Byte Description Type Unit
Offset
Header 0 380xh: VAI Go To Pos With Higher Force Ctrl Limit 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
4. Par 14 Force Limit Uint16 0.1 N
Moves to the defined target position, if the measured force reaches the higher defined value
the controller switches to the force control mode with target force = force limit.
To change back to position control mode use motion command VAI Go To Pos From Act Pos
And Reset Force Control (381xh).
4.3.218 VAI Go To Pos From Act Pos And Reset Force Control
(381xh)
Name Byte Description Type Unit
Offset
Header 0 381xh: VAI Go To Pos From Act Pos And Reset UInt16 -
Force Control
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
4. Par 14 Deceleration UInt32 1E-5 m/s 2
Reinstalls the position control mode and moves to the defined target position.
4.3.219 Force Ctrl Change Target Force (382xh)
Name Byte Description Type Unit
Offset
Header 0 382xh: Force Ctrl Change Target Force UInt16 -
1. Par 2 Target Force Uint16 0.1 N
This command can be used to change the target force during the force control mode.
Page 76/105 User Manual Motion Control SW / 07.09.2011 NTI AG / LinMot