JVL MAC050 - Page 422

418 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
6.12 Registers
Only MAC400 to 4500
TT1502-03GB
Firmware /
MacRegIo
Name
MacTalk
Name
Range/
Default
Size /
Acces
s
Unit Description
11 V_IST_16 Actual
Velocity
Na /
0
Word /
R
V_IST (actual velocity) measured over 16 samples.
Same unit as V_SOLL (register 5).
12 V_IST
(not present)
Na /
0
Word /
R
Actual velocity. 1RPM=0.173333 counts/sample for
8000 CPR encoders (MAC800, MAC1200 default)
or 0.1774933 for 8192 CPR encoders (MAC400,
402, 1500 and 3000).
13 KVOUT or
KVOUT_HI
Load Na /
65536
(1.
0)
Fixed1
6 /
RW
-
Must be set to the ratio between the total inertia
driven by the motor relative to the motors own rotor
inertia. So for at motor shaft that is not
mechanically connected to anything, this value
should be 1.0.
The load factor is perhaps the single most
important value of the filter setup. Always try to set
this right before experimenting with filter setups.
When the system to use an automatic load factor
base on velocity is enabled, this register holds the
highest value of the load factor range. The load
factor scaling system allows to automatically use a
lower load factor at lower velocities to avoid
oscillations, typically with belt drive systems.
14 GEARF1 Gear factor
Input
Na /
2000
Word /
RW
- The nominator used to scale / gear pulses from an
external encoder/source. Used in gear modes.
15 GEARF2 Gear
factor
Output
Na /
500
Word /
RW
- The denominator used to scale / gear pulses from
an external encoder/source. Used in gear modes.
16 I2T Motor Load
(mean)
Na /
0
Word /
R
- The calculated power dissipated in the motor, and
thus an approximated value for the rise in
temperature inside the physical motor. See also
I2TLIM (Reg 17).
MacTalk value is calculated as
[%]=I2T/I2TLIM x
100
Note that in v2.09 and later, this value is initialized
to 80 percent of I2TLIM after reset to prevent
overheating the motor in case of frequent resets.
17 I2TLIM
(not present)
Na /
100000
dep. On
motor
model.
Word /
R/W
- The limit for the value of Reg16, I2T, where bit 0,
I2T_ERR, in Reg35, ERR_STAT will be set and the
motor will change into passive mode. Each motor
type has a firmware defined value.
18 UIT
Na /
0
Word /
R
The calculated power dissipated in the internal
power dump/brake resistors, and thus a way to
estimate their rise in temperature. See also UITLIM
(Reg 19)
MacTalk value is calculated as
[%]=UIT/UITLIM x
100
Note that in v2.09 and later, this value is initialized
to 80 percent of UITLIM after reset to prevent
overheating the motor in case of frequent resets.
19 UITLIM
(not present)
Na /
2322
Word /
R
The limit for the value of Reg18, UIT, where bit 3,
UIT_ERR, in Reg35, ERR_STAT will be set and the
motor will change into passive mode.
Each motor has a firmware defined value, that is
suitable when using the built-in brake resistor.
When using an external brake resistor, use the
value 0 to drive both the internal and external brake
resistors in parallel, or the value 1 to drive only the
external brake resistor.
20 FLWERR Na /
0
Word /
RW
Encoder
counts
A measure of how far the drive is from its ideal
regulation goal. This value is calculated differently
in the various modes, and can mean things like
'pulses from theoretical position' or 'difference in
actual velocity to V_SOLL'. Contact JVL for more
detailed information for specific modes.