JVL MAC050 - Page 438

434 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
6.12 Registers
Only MAC400 to 4500
TT15 -02GB16
Reg.
Nr.
Firmware / MacRegIo
Name
MacTalk
Name
Range/
Default
Size /
Access
Description
158 SAMPLE1
(not
present)
Na /
0
Word /
RW
- SAMPLE1..4 controls the scope/sample function.
Register number, bit field and min/max/average sample type for the
first value in each sample.
159 SAMPLE2
(not
present)
Na /
0
Word /
RW
-
Register number, bit field and min/max/average sample type for the
second value in each sample.
160 SAMPLE3
(not
present)
Na /
0
Word /
RW
-
Register number, bit field and min/max/average sample type for the
third value in each sample.
161 SAMPLE4
(not
present)
Na /
0
Word /
RW
-
Register number, bit field and min/max/average sample type for the
fourth value in each sample.
162 REC_CNT
(not
present)
0-511 or
0..2047
/
0
Word /
RW
-
Index into the sample buffer used for scope functionality. The length of
the sample buffer, and thus the range of this parameter if determined
by bit 23, SBUF_2048, in Reg39, HW_SETUP. See document/section
“YY” for further information on the sample system.
163 V_EXT
(not
present)
Na /
0
Word /
R
- Unscaled/Raw velocity of external encoder input in pulses per 1.3ms.
164 GV_EXT
(not
present)
Na /
0
Word /
R
- Velocity of external encoder input V_EXT, after being scaled by the
ratio GEARF1/GEARF2
165
(not
present)
Na /
0
Word /
R
-
Actual target velocity generated from the Gear mode function blocks
(that may be optimized for position or follow error depending on which
gear mode is used).
With the VelAccHiRes option selected, this register holds only the
lowest 32 bits of the 64-bit G_FNC value.
166 FNC_OUT
(not
present)
Na /
0
Word /
R
- Output from the currently active function block. Acts as input to the
velocity filter.
167 FF_OUT
(not
present)
Na /
0
Word /
R
- Output from the Feed Forward part of the velocity filter.
168 VB_OUT
(not
present)
Na /
0
Word /
R
- Value from the backwards calculation part of the velocity filter.
169 VF_OUT Actual
torque
±1023 /
0
Word /
RW
- Actual torque. +/- 1023 means +/- 300 percent.
170 ANINP
(not
present)
±2047 /
0
Word /
RW
- Voltage (including applied ANINP_OFFSET) on the primary analogue
input. +/- 1023 means +/- 10V DC.
171 ANINP_OFFSET
(not
present)
±2047 /
0
Word /
RW
- Offset to be added or subtracted (in direct torque mode) to the
hardware value of the analogue input. Same scaling as Reg170,
ANINP.
172 ELDEG_OFFSET
(not
present)
Na /
0
Word /
R
- <used with motor current loop>
173 PHASE_COMP
(not
present)
Na /
0
Word /
R
- <used with motor current loop>
174 AMPLITUDE
(not
present)
Na /
0
Word /
R
- <used with motor current loop>
175 MAN_I_NOM
(not
present)
Na /
0
Word /
RW
- <used with motor current loop>
176 MAN_ALPHA
(not
present)
Na /
0
Word /
RW
- <used with motor current loop>
177 UMEAS
(not
present)
Na /
0
Word /
R
- <used with motor current loop>
178 I_NOM/ANGLE
(not
present)
Na /
0
Word /
R
- <used with motor current loop>
179 PHI_SOLL/IQ
(not
present)
Na /
0
Word /
R
- <used with motor current loop>
180 IA_SOLL/ID
(not
present)
Na /
0
Word /
R
- <used with motor current loop>
181 IB_SOLL/IQ_ERR
(not
present)
Na /
0
Word /
R
- <used with motor current loop>
182 IC_SOLL/ID_ERR
(not
present)
Na /
0
Word /
R
- <used with motor current loop>