TT1502-03GB
Reg.
Nr.
Firmware /
MacRegIo Name
MacTalk
Name
Range/
Default
Size /
Access
Unit Description
3 P_SOLL Target
position
±2^31
/ 0 or
AbsEncoder
Word /
RW
Encoder
counts
The target position that the drive will attempt to reach in
position related modes.
4P_NEW
(not present)
±2^31
/ 0
Word /
RW
Encoder
counts
Used to update both P_IST and P_SOLL in a single
atomic operation to prevent motor movements during the
change.
P_NEW holds either an absolute position or a relative
position.
After writing a value to P_NEW, update both bits 8 and 6
in Reg36, CNTRL_BITS.
Bit 8, SYNCPOSREL, will select a relative position update
when set or an absolute update when cleared.
Setting bit 6, SYNCPOSMAN, executes the
P_IST+P_SOLL update, that is, either both are set equal
to P_NEW, or P_NEW is added to both, using signed
addition. P_FUNC is updated accordingly.
The undocumented FastMac commands 23 and 24 can
also be used to set these bits and perform the same
absolute and relative updates.
This is useful for expanding the logical position range
beyond +/- 2^26.
5 V_SOLL Max Velocity Na /
277
(100RPM)
Word /
RW
Cnt's/
sample
Desired velocity 1 RPM=2.77056 counts/sample for
encoder resolution of 8000 PPR or 1 RPM = 2.83989
counts/sample for encoder resolution of 8192 PPR.
Example: To obtain 100 RPM, V_SOLL must be set to 277
on a MAC800.
6 A_SOLL Acceleration Na /
18
(5003RPM/s²)
Word /
RW
Cnt's/
Sample²
The desired nominal acceleration.
1000 RPM/s = 3.6053333 counts/Sample² for encoders
with 8000 PPR, or 3.6918613 for encoders with 8192
PPR.
Example: To obtain 100000 RPM/s, A_SOLL must be set
to 361 or 369 dep. on encoder.
7 T_SOLL Torque 0-1023
/
1023
(300%)
Word /
RW
- The maximum torque that the drive is allowed to use.
The value 1023 corresponds to 300% of nominal load, and
is the absolute maximum peak torque allowed. The value
341 gives 100% (nominal load).
8P_FNC or
P_FNC_LO
Word /
RW
Encoder
counts
Used internally for relative movements. When one of the
P1…P8 registers are activated with a FastMac command
in relative positioning mode, this register is modified to
allow a movement without changing the P_SOLL register
and therefore avoid position range overflow.
When the VelAccHiRes option is selected, this register
must hold a 64-bit value. In this case Register 8 holds the
lowest 32 bits, and the next register, Register 9,
INDEX_OFFSET, holds the highest 32 bits.
9 INDEX_OFFSET or
P_FNC_HI
(not present)
Word /
RW
Encoder
counts
Updated after a Zero Search to show at what single-turn
encoder position the zero point was detected. This is used
by MacTalk on the Test tab to show if the zero search
resulted in a valid zero position.
When the VelAccHiRes option is selected, this register
holds the highest 32 bits of P_FNC. Please see register 8,
P_FNC_LO above.
10 P_IST Actual
Position
±2^31 /
0
Word /
RW
Encoder
counts
The actual motor position measured by the internal
encoder. Updated every 1.3ms (or every 2.6 ms with
Reg157, OUTLOPDIV=2) Note that this register is
maintained incrementally, which means that the user can
update it to offset the working range. When updating when
the drive is not in Passive mode, P_IST and P_SOLL
should be updated together in an atomic operation, using
Reg4, P_NEW, or other special measures. Also note that
the firmware will change this register after a zero search
operation has completed.
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