LinMot

L i n M o t ®
Motion Control SW
4.3.192 Write Cmd Table Var 2 To UPID RAM value (249xh) ................................ 72
4.3.193 Write UPID RAM Value To Cmd Table Var 1 (24Cxh)............................... 72
4.3.194 Write UPID RAM Value To Cmd Table Var 2 (24Dxh)............................... 72
4.3.195 IF Cmd Table Var 1 Less Than (250xh)....................................................... 72
4.3.196 IF Cmd Table Var 1 Greater Than (251xh) ................................................. 72
4.3.197 IF Cmd Table Var 1 Less Than (252xh)....................................................... 72
4.3.198 IF Cmd Table Var 1 Greater Than (253xh) ................................................. 73
4.3.199 IF Demand Position Less Than (258xh) ...................................................... 73
4.3.200 IF Demand Position Greater Than (259xh)................................................. 73
4.3.201 IF Actual Position Less Than (25Axh) ......................................................... 73
4.3.202 IF Actual Position Greater Than (25Bxh).................................................... 73
4.3.203 IF Difference Position Less Than (25Cxh) .................................................. 73
4.3.204 IF Difference Position Greater Than (25Dxh)............................................. 74
4.3.205 IF Current Less Than (25Exh) ..................................................................... 74
4.3.206 IF Current Greater Than (25Fxh)................................................................ 74
4.3.207 IF Analog Val On X4.4 Less Than (260xh).................................................. 74
4.3.208 IF Masked X4 Input Value Equal Than (262xh) .......................................... 74
4.3.209 IF Masked X6 Input Value Equal Than (263xh) .......................................... 74
4.3.210 IF Masked Status Word Equal Than (264xh)............................................... 75
4.3.211 IF Masked Warn Word Equal Than (265xh)................................................ 75
4.3.212 IF CAM Counts Less Than (266xh).............................................................. 75
4.3.213 Encoder Winding Stop Adaptation Of Left/Right Position and Disturbance
(304xh) 75
4.3.214 Encoder Winding Restart Adaptation Of Left/Right Position and
Disturbance (305xh)......................................................................................................... 75
4.3.215 Encoder Curve Winding Start With Default Parameters (310xh)................ 75
4.3.216 Encoder Curve Winding Start With Default Parameters At Revolutions
(311xh) 76
4.3.217 VAI Go To Pos With Higher Force Ctrl Limit (380xh)................................ 76
4.3.218 VAI Go To Pos From Act Pos And Reset Force Control (381xh)................ 76
4.3.219 Force Ctrl Change Target Force (382xh).................................................... 76
4.3.220 VAI Go To Pos With Higher Force Ctrl Limit and Target Force (383xh)... 77
4.3.221 VAI Go To Pos With Lower Force Ctrl Limit (384xh)................................. 77
4.3.222 VAI Go To Pos With Lower Force Ctrl Limit and Target Force (385xh).... 77
4.3.223 Current Command Mode (390xh) ................................................................ 77
4.3.224 Change to Position Controlled Mode (39Fxh)............................................. 78
5 SETPOINT GENERATION ......................................................................................... 79
5.1 VA-INTERPOLATOR................................................................................................... 79
5.1.1.1 Parameters and Output ................................................................................. 79
5.2 SINE VA MOTION ..................................................................................................... 80
5.2.1.1 Parameters and Output ................................................................................. 80
5.3 BESTEHORN VAJ MOTION ........................................................................................ 81
5.3.1.1 Parameters and Output ................................................................................. 81
5.4 P(V)-STREAM ........................................................................................................... 82
5.5 CAM MOTIONS .......................................................................................................... 83
5.5.1 Triggered Cam Motions ................................................................................... 83
5.5.2 Repeated Cam Motions with the Modulo CamMode ....................................... 83
6 COMMAND TABLE ..................................................................................................... 84
Page 8/105 User Manual Motion Control SW / 07.09.2011 NTI AG / LinMot