LinMot

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 / LinMot User Manual Motion Control SW/ 07.09.2011 Page 79/105