Detailed Motion Command Description; Sin Va Go To Pos (3E0Xh); Sin Va Increment Demand Pos (3E1Xh); Sin Va Go To Pos From Actual Pos (3E4Xh) - LinMot B1100 Series User Manual

Sinoide Application

3.2 Detailed Motion Command Description

3.2.1 Sin VA Go To Pos (3E0xh)

Name Byte Description
Offset
Header 0 3E0xh: Sin VA Go To Pos
1. Par 2 Target Position
2. Par 6 Maximal Velocity
3. Par 10 Acceleration
Half period sine motion profile, regarding the limitations of maximal acceleration and maximal
velocity.

3.2.2 Sin VA Increment Demand Pos (3E1xh)

Name Byte Description
Offset
Header 0 3E1xh: Sin VA Increment Demand Pos
1. Par 2 Position Increment
2. Par 6 Maximal Velocity
3. Par 10 Acceleration
Half period sine motion profile, regarding the limitations of maximal acceleration and maximal
velocity. The new Target Position value will be determined by the firmware. It is calculated by
adding the Position Increment argument to the Demand Position value (relative move). The
command execution starts immediately when the command has been sent.

3.2.3 Sin VA Go To Pos From Actual Pos (3E4xh)

Name Byte Description
Offset
Header 0 3E4xh: Sin VA Go To Pos From Actual Pos
1. Par 2 Target Position
2. Par 6 Maximal Velocity
3. Par 10 Acceleration
Half period sine motion profile, regarding the limitations of maximal acceleration and maximal
velocity. 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, 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.

3.2.4 Sin VA Increment Actual Pos (3E6xh)

Name Byte Description
Offset
Header 0 3E6xh: Sin VA Increment Actual Pos
1. Par 2 Position Increment
2. Par 6 Maximal Velocity
3. Par 10 Acceleration
Page 7/15 User Manual Sinoide Application / 06/12/2013
LinMot
Type Unit
UInt16 -
SInt32 0.1 um
UInt32 1E-6 m/s
UInt32 1E-5 m/s
Type Unit
UInt16 -
SInt32 0.1 um
UInt32 1E-6 m/s
UInt32 1E-5 m/s
Type Unit
UInt16 -
SInt32 0.1 um
UInt32 1E-6 m/s
UInt32 1E-5 m/s
Type Unit
UInt16 -
SInt32 0.1 um
UInt32 1E-6 m/s
UInt32 1E-5 m/s
NTI AG / LinMot
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