JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 173
7.4 Examples
7.4.2 Running Position control
Running the motor in position control requires that the mode register is set for position
control. The following registers is of particular interest when position mode is used.
•Poll registers
- "Actual position" -P_IST, register 10
- "Actual velocity" -V_IST, register 12
- "Motor load mean" - average motor load, register 16
- "Follow error" - The actual position error, register 20
- "Error/Status" -register 35
•Write registers
- “Mode” – mode, register 2
- "Requested position" -P_SOLL, register 3
- "Requested velocity" -V_SOLL, register 5
- "Requested acceleration" -A_SOLL, register 6
In this mode the position is controlled by applying a requested position to the "P_SOLL"
-register and the actual position is monitored in the "P_IST" register. The V_SOLL and
A_SOLL registers sets the velocity and acceleration used when positioning occurs.
For easy setup we can use a single poll setup for the registers 10,12,16 and 20, and an-
other for register 35, see figure below but it also is possibly to setup one poll instance for
every single register.
Calculate the values needed for velocity and acceleration and send to the motor, see pre-
vious example.
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