210 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors
8.4 FSP Drive profile
8.4.3.2 Operation mode velocity
Operation mode velocity is selected by writing the value “2” to IDN S-0-0032. In this
state the drive shall follow the velocity command values of the control unit. The velocity
loop can be closed with the S-0-0040 Velocity feedback value. The velocity feedback
value refers to the motor encoder.
Used IDN’s in operation mode velocity:
“RO”=ReadOnly,”RW”=ReadandWriteable,”C”=MapabletoCyclicdata,“T”=MapabletorealTime
bits.
8.4.3.3 Operation mode position
Operation mode position is the default mode when using FSP Drive. In the operation
mode position control the control unit transmits with its cycle time the position com
-
mand value to the drive with the S-0-0047 Position command value. The position loop
can be closed with the S-0-0051 Position feedback value 1, which refers to the motor
encoder.
Used IDN’s in operation mode position:
“RO”=ReadOnly,”RW”=ReadandWriteable,”C”=MapabletoCyclicdata,“T”=MapabletorealTime
bits.
IDN Description Default Units Attributes
S-0-0036 Velocity command value - - RW, C
S-0-0040 Velocity feedback value. - - RW, C
S-0-0043 Velocity polarity parameter 0 - RW
S-0-0044 Velocity data scaling type 2 - RW
S-0-0045 Velocity scaling factor 1 - RW
S-0-0046 Velocity scaling exponent -2 - RW
IDN Description Default Units Attributes
S-0-0047 Position command value - - RW, C
S-0-0051 Position feedback value 1 (motor feedback) - - RO, C
S-0-0055 Position polarity parameter 0 RW
S-0-0057 Position window 4.3902 ° RW
S-0-0076 Position data scaling type 2 - RW
S-0-0077 Linear position data scaling factor 1 - RW
S-0-0078 Linear position data scaling exponent -2 - RW
S-0-0079 Position resolution (counts/rotation) 360.0000 ° RW
S-0-0189 Following error - - RO, C
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