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L i n M o t ® Motion Control SW Header 0 390xh: Current Command Mode UInt16 - 1. Par 2 Demand Current Sint32 0.001 A Change in Current Command mode if not yet and set demand current. 4.3.224 Change to Position Controlled Mode (39Fxh) Name Byte Description Type Unit Offset Header 0 39Fxh: Change to Position Controlled Mode UInt16 - Go back to position controlled mode. Page 78/105 User Manual Motion Control SW / 07.09.2011 NTI AG / <strong>LinMot</strong>
Motion Control SW L i n M o t ® 5 Setpoint Generation 5.1 VA-Interpolator The VA-Interpolator generates a position curve from one position to another due to the parameter values of acceleration deceleration and a maximal speed. A new target position can be set even if the old target position was not reached. Acceleration 50 0 -50 -100 0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 Velocity 2 1 0 0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 Position 0.2 0.1 0 0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 Time 5.1.1.1 Parameters and Output The VA-Interpolator is defined by the following parameters: • Target Position [SInt32; 0.1um/s] • Maximal Speed [UInt32; 1E-6 m/s] • Acceleration [UInt32; 1E-5 m/s 2 ] • Deceleration [UInt32; 1E-5 m/s 2 ]. The VA-Interpolator generates as outputs: • Position [SInt32; 0.1um] • Velocity [SInt32; 1E-6 m/s] • Acceleration [SInt32; 1E-5 m/s 2 ] NTI AG / <strong>LinMot</strong> User Manual Motion Control SW/ 07.09.2011 Page 79/105
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