Bestehorn Vaj Go To Pos From Actual Pos (3F4Xh); Bestehorn Vaj Increment Actual Pos (3F6Xh); Bestehorn Vaj Go To Pos On Rising Trigger Event (3Faxh) - LinMot B1100 Series User Manual

Sinoide Application
Header 0 3F2xh: Bestehorn VAJ 16 Bit Go To Pos
1. Par 2 Target Position
2. Par 4 Maximal Velocity
3. Par 6 Acceleration
4. Par 8 Jerk
Bestehorn Motion Profile, regarding the limitations maximal jerk, acceleration and maximal
speed. With 16 bit motion parameters: UPID 1455h for Position, UPID 1456 for Maximal
Velocity, UPID 1457h for Acceleration and UPID 1458h for Jerk Scaling.
3.2.12

Bestehorn VAJ Go To Pos From Actual Pos (3F4xh)

Name Byte Description
Offset
Header 0 3F4xh: Bestehorn VAJ Go To Pos From Actual Pos
1. Par 2 Target Position
2. Par 6 Maximal Velocity
3. Par 10 Acceleration
4. Par 14 Jerk
Bestehorn Motion Profile, regarding the limitations maximal jerk, acceleration and maximal
speed. The command execution starts immediately when the command has been sent. This
command should be used if the Actual Position does not match with the current Demand
Position value, but it can be assumed that the motor stands still (Actual Velocity assumed to
be zero, e.g. because the motor stands on a hard stop). This can happen after a Press
command\c where the actual motor position is defined through external conditions and the
motor could not and had not to follow the demand position. By starting this command, the
former accepted difference between Actual Position and Demand Position can be eliminated.
3.2.13

Bestehorn VAJ Increment Actual Pos (3F6xh)

Name Byte Description
Offset
Header 0 3F6xh: Bestehorn VAJ Increment Actual Pos
1. Par 2 Position Increment
2. Par 6 Maximal Velocity
3. Par 10 Acceleration
4. Par 14 Jerk
Bestehorn Motion Profile, regarding the limitations maximal jerk, acceleration and maximal
speed. The new Target Position value will be determined by the firmware. It is calculated by
adding the Position Increment argument to the Actual Position value (relative move). The
command execution starts immediately when the command has been sent.
3.2.14

Bestehorn VAJ Go To Pos On Rising Trigger Event (3FAxh)

Name Byte Description
Offset
Header 0 3FAxh: Bestehorn VAJ Go To Pos On Rising
Trigger Event
1. Par 2 Target Position
2. Par 6 Maximal Velocity
3. Par 10 Acceleration
4. Par 14 Jerk
Page 10/15 User Manual Sinoide Application / 06/12/2013
LinMot
UInt16 -
SInt16 Scaled
UInt16 Scaled
UInt16 Scaled
UInt16 Scaled
Type Unit
UInt16 -
SInt32 0.1 um
UInt32 1E-6 m/s
UInt32 1E-5 m/s
UInt32 1E-4 m/s
Type Unit
UInt16 -
SInt32 0.1 um
UInt32 1E-6 m/s
UInt32 1E-5 m/s
UInt32 1E-4 m/s
Type Unit
UInt16 -
SInt32 0.1 um
UInt32 1E-6 m/s
UInt32 1E-5 m/s
UInt32 1E-4 m/s
NTI AG / LinMot
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