JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 103
4.6 Configuration with explicit messages
First we change the Velocity setting, we want the motor to spin with 1000 RPM.
The message for addressing V_SOLL is formed:
We need to scale 1000 RPM to the correct value in the motor the factor is 1 RPM = 2.77
counts/sample so we need to send the value 2770 = 0x00000AD2.
The instance refers to the register number, so we need to set instance to 5 (V_SOLL)
Please notice that the value is represented as 32bit.
Next we set the acceleration to be used.
We need the acceleration to be 20000 RPM /s2
This value also needs to be scaled, the factor is 1 RPM/s² = 0.0036 counts/sample² so, in
order to reach 20000 we need to send the value 72 = 0x00000048.
Acceleration is instance 6 (A_SOLL).
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