JVL MAC050 - Page 437

JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500 433
6.12 Registers
Only MAC400 to 4500
TT15 -02G B15
Reg.
Nr.
Firmware /
MacRegIo Name
MacTalk
Name
Size /
Access
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)
-
Contains the last ID of the velocity filter written by MacTalk.
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.
In firmware v2-09 and later, it will also switch between 1.0 and 2.0 ms. if
configured in Reg236, SETUP_BITS, to run 1.0 ms base.
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 , will be four times larger.
2