JVL MAC00-EC41 - Page 287

JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 287
12.3 Motor registers MAC400 - 4500
TT1512GB
Reg.
Nr.
Firmware /
MacRegIo
Name
MacTalk
Name
Range/
Default
Size /
Access
Unit Description
150 <reserved>
(not
present)
-
151 <reserved>
(not
present)
-
152 <reserved>
(not
present)
-
153 <reserved>
(not
present)
-
154 <reserved>
(not
present)
-
155 ID_RESERVED
(not
present)
- <reserved>
156
S_ORDER
(not
present)
Na /
0
Word /
RW
- An S-profile can be used to modify/smooth the acceleration at the
beginning and end of a change in velocity. This is useful to
prevent overshoot.
The value of zero disables the S-profile so the normal A_SOLL is
used. Values 1..8 can be used to select a progressively smoother
S-profile, with 8 being the smoothest (and slowest).
The value of S_ORDER may not be changed unless the motor is
in Passive mode (MODE_REG=0).
157 OUTLOOPDIV
(not
present)
Na /
0
Word /
RW
- Divider value for the velocity loop. With the standard value of 1,
the velocity loop is recalculated every 1.3 ms. With a value of 2,
the loop is recalculated every 2.6 ms, which can give better
performance for slow movements and/or large inertia.
It is absolutely necessary to use a different set of filters in
Regs121
-142 when changing this value.
To change this value from MacTalk, and gain access to the
extended filters, open the Filter Setup window, then hold down
both the Control and Shift keys and double-click on the text ‘More’
to the
left of the ‘Stability’ slider (at the green end). After entering
the correct password, Sample Frequency can be selected and
MacTalk will use the appropriate filter set. Note that the units of all
velocity
-related register, measured in counts/sample will now be
doubled, and all acceleration-related registers, measured in
Counts/sample
2
, will be four times larger.