JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500 261
5.7 Expansion Module MAC00-FD4
6. Now the motor is stopped at a stationary position, this position we want to set to 0,
so we are using a special command. Write to command register 211. The command
is 247:
Word 0: #0381; Set the bits in the structure and get register 3=P_IST actual position
Word 1: #D33F; Register 211, Command, use command message = 31 + 32
Word 2: #00F7;Value=247
Word 3: #0000; -
This will set the 2 registers P_IST = P_NEW and P_SOLL = P_NEW per default
P_NEW = 0, so this will automatically set these registers to 0.
P_NEW has register number 163.
7. Now return to standard position control.
We set the mode back to position (remember, velocity = 0):
Word 0: #0381;Set the bits in the structure and get register 3=P_IST actual position
Word 1: #023F;Register 2, Command, use command message = 31 + 32
Word 2: #0002;Value=2 = position mode
Word 3: #0000; -
8. Next we must set the max. velocity to use
Word 0: #0381;Set the bits in the structure and get register 3=P_IST actual position
Word 1: #053F;Register 5, MODE, use command message = 31 + 32
Word 2: #07D0;Value=2000, velocity mode approx. 957 RPM (scaling: 2.1 x RPM)
Word 3: #0000;
9. From here we can either use the standard position controller and change the mes-
sage type to "Target position" and maybe set the incremental -bit if necessary.
Word 0: #0381;Set the bits in the structure and get register 3=P_IST actual position
Word 1: #2121;Use target position message type
Word 2: #07D0;Value=2000, since we are running “incremental” the shaft position
;is moved by 2000 counts
Word 3: #0000; -
.........
Please also consult the user documentation for the Omron PLC and for a general motor
register overview please consult
MacTalk communication, page 402.
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