Example Of Motion Using A Vai Motion Command - LinMot PR01 Series Manual

LinMot Linear-Rotary Motors
The ratio can be freely defined. Keep in mind that the "position" parameter type is defined as a 32-bit value and the
maximum position resolution is 0.1 µm. This means that the maximum stroke is limited to between -214748 mm
and 214748 mm.
Position [mm]
1 revolution = 36 mm (1° == 0.1 mm)
1 revolution = 360 mm (1° == 1 mm)
The ratio, however, affects not only the positions but also the PID controller. The table below shows an example of
this:
P [A/mm]
1 revolution = 36 mm (1° == 0.1 mm)
1 revolution = 360 mm (1° == 1 mm)
This means that if the "Motor Angle to Position Ratio" is changed, the controller parameters must be
(manually) adjusted as well.

Example of motion using a VAI motion command

A VAI Motion Command (motion using the Velocity Acceleration Interpolator) can be started directly via the LinMot
Talk program.
1) Definition of the movement:
Number of revolutions
Acceleration phase
Maximal velocity
Delay
1 Revolution
2) Converting the rotary parameters into the linear system:
Target Position [mm]=Number of revolutions∗36 [mm]=900[mm]
Maximal Velocity [m/ s ]=(1500[1/min]∗0.036 [m])/60=0.9[m/ s]
2
Acceleration [m/s ]=Maximal Velocity [m/ s]/0.1[s ]=9[m/ s
2
Deceleration [m/ s ]=Maximal Velocity [m/s ]/0.05[ s]=18[m/ s
NTI AG/ LinMot
E_2V94_IG_Linear_Rotary_Motors_PR01.odt
-214748 to 214748
Maximum number of revolutions = 11930
Maximum number of revolutions = 1193
5
For a deviation of 1°, the drive reacts with 0.5 A
For a deviation of 1°, the drive reacts with 5 A
25
100 [ms]
1500 [rpm]
50 [ms]
36 [mm]
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