212 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors
8.4 FSP Drive profile
Start the capture by writing the value “1” to S-0-0405 or S-0-0406 for respectively
probe 1 and probe 2. When the capture has taking place the enable bit in S-0-0405 / S-
0-0406 has to be toggled for new use.
IDN’s S-0-0130 to S-0-0133 are the captured values of the position data from IDN S-
0-0051 for the respective edges on the capture inputs AIN1 and AIN2.
In the IDN’s S-0-0409 to S-0-0412 are bit 0 set when a capture is made. The bit is reset
when a new capture cycle is prepared by clearing S-0-0405/S-0-0406.
The IDN’s S-0-0401 and S-0-0402 are reflecting the present state of the probe inputs.
The IDN’s S-0-0426 and S-0-0427 are used for setup of the IDN which is captured at
an event on one of the probe inputs. But they are by default setup to IDN S-0-0051 ac
-
tual position, so no setup of these is actually needed.
The IDN’s S-0-0401, S-0-0402 and S-0-0409 to S-0-0412 are possible to map as real
time bits. Please refer to
Real time bits., page 213 for how to do this.
8.4.5 Homing
8.4.5.1 Drive controlled Homing
The drive controlled homing is started by S-0-0148 Drive controlled homing procedure
command. Before execution of the command the S-0-0041 homing velocity, S-0-0042
homing acceleration and S-0-0052 reference position needs to be set to desired values. If
homing against a hard stop is required then the S-0-0530 Clamping torque needs to be
setup also.
Used IDN’s in drive controlled homing:
“RO”=ReadOnly,”RW”=ReadandWriteable,”C”=MapabletoCyclicdata,“T”=MapabletorealTime
bits.
IDN Description Default Unit
Attrib-
utes
S-0-0041 Homing velocity. 50.0000 RPM RW
S-0-0042 Homing acceleration 523.333
Rad/s
2
RW
S-0-0052 Reference Position 1 0 - RW
S-0-0147 Homing parameter 0 - RW
S-0-0148 Drive controlled homing procedure command - - RW
S-0-0403
Position feedback value status
(Returns the home status of the drive.)
- - RO
S-0-0530 Clamping torque (Torque used for homing against a hard stop) 15.0 % RW
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