JVL MAC00-EC41 - Motor Registers Misxxx

292 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors
12.4 Motor registers MISxxx
12.4.1 Register list for MIS motors.
Please notice: At the Ethernet modules all registers is transmitted as 32 bit.
Reg Name Size Access Range Default Unit Description MacTalk
name
1PROG_
VERSION
32bit R ‐‐Major*16+
Minor+
16384+
17*2^
14
Thefirmwareversion.TheBit14issettoindicatethatthe
typeisasteppermotorcontroller,whilebits[19:14]areset
tothespecificmotortype,where17meansSMC85xx.
“Statusbar”
2 MODE_REG 32bit R/W 0,1,2,13,
14
0 ‐ Controlstheoperatingmodeofthemotor.
0:Passive
1:Velocity
mode
2:Positionmode
13:Zerosearchtype1
14:Zerosearchtype2
32:CyclicSynchronousPositionmode(Ethernetonly)
CurrentMode
3 P_SOLL 32bit R/W
(‐2
31
)‐(2
31
‐
1)
0Steps Thedesiredpo sition.Wheninpositionmode,themotorwill
movetothisposition.Thisvaluecanbechangedatanytime.
Position
4 Reserved (intendedfor64‐bitP_SOLLhi‐word)
5 V_SOLL 32bit R/W ‐300,000‐
300,000
10000 0.01RPM Themaxiumallowedvelocity.Wheninvelocitymodethe
motorwillrunconstantlyatthisvelocity.

Specifyanegativevelocitytoinvertthedirection.
Thisvaluecanbechangedatanytime.
Example:Thevalue25000selects250RPM
Maxvelocity
6 A_SOLL 32bit R/W 1 ‐500,000 1000 RPM/s Theacceleration/decelerationramptouse.Ifthisvalueis
changedduringatmovementitwillfirstbeactivewhenthe
motorstopsorchangesdirection.
Acceleration
7RUN_
CURRENT
32bit R/W 0‐1533 511 C:5.87mA
B:3.91mA
A:1.96mA
Currenttousewhenthemotorisrunning.Theunitdepends
onthedriver:C=9A,B=6A,A=3A.
Running
Current
8STANDBY_
TIME
32bit R/W 1‐65535 500 ms Numberofmillisecondsbeforechangingtostandbycurrent. StandbyTime
9STANDBY_
CURRENT
32bit R/W 0‐1533 128 C:
5.87mA
B:3.91mA
A:1.96mA
Thestandbycurrent.Theunitdependsonthedriver:
C=9A,B=6A,A=3A.
Standby
Current
10 P_IST 32bit R/W
(‐2
31
)‐(2
31
‐
1)
‐ Steps Theactualposition.Thisvaluecanbechangedatanytime. Actual
position
11 Reserved (intendedfor64‐bitP_ISThi‐word)
12 V_IST 32bit R ‐300,000‐
300,000
‐ 0.01RPM Thecurrentvelocity. Actual
velocity
13 V_START 32bit R/W 1‐300,000 1000 0.01RPM Thestartvelocity.Themotorwillstarttheaccelerationat
thisvelocity.
Startvelocity
14 GEAR1 32bit R/W
(‐2
31
)‐(2
31
‐
1)
409600 Counts Themultiplierofthegearfactor Output
15 GEAR2 32bit R/W
(‐2
31
)‐(2
31
‐
1)
2048 Counts Thedividerofthegearfactor Input
16 ENCODER_
POS
32bit R/W
(‐2
31
)‐(2
31
‐
1)
‐ Steps Iftheencoderoptionisinstalled,thisshowtheposition
feedbackfromtheencoder.
Encoder
position
17 Reserved (intendedfor64‐bitENCODER_POShi‐word)
18 INPUTS 32bit R ‐‐Special Thecurrentstatusofthedigitalinputs. “Statusbar”
19 OUTPUTS 32bit R/W ‐ 0SpecialThecurrentstatusofthedigitaloutputs,canbewrittento
changetheoutputs.
“Statusbar”
20 FLWERR 32bit R
(‐2
31
)‐(2
31
‐
1)
‐ Steps Whentheencoderoptionisinstalledthisshowsencoder
deviationfromthecalculatedposition(P_IST).
Followerror
21 Reserved (intendedfor64‐bitFLWERRhi‐word)
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