76 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
2.14 Rotary table option
- Valid position range.
Whenever the motor needs to perform a wrap-around it moves the value of P_IST out-
side the valid rotary table position range.
For normal operation, without multiturn:
When operation “Always CW” is selected P-IST can temporarily be moved up to one full
working range below MIN_P_IST.
When operation “Always CCW” is selected P-IST can temporarily be moved up to one full
working range above MAX_P_IST.
With Shortest Path , P_IST can be moved both one full working range above MAX_P_IST
or below MIN_P_IST.
When setup for operation as either “Multiturn CW rotation” or “Multiturn CCW rotation”
the number of ranges P_IST can temporarily move outside the working range depends
on the value written to P_SOLL and will be the number of full turns required plus one.
This is important to keep in mind if it causes P_IST to exceed the motors absolute posi-
tion working range of -67 million to + 67 million.
- Modes other than Position mode
With the HW_SETUP bits 24 and/or 25 set main motor modes other than Position mode
also work slightly different.
The software position limits do not cause the motor to go into Passive mode if/when
P_IST exceeds any of these limits.
Register 25, P_IST_TURNTAB is still updated to show the actual position relative to the
rotary table position range - even while P_IST gets outside MIN_P_IST or MAX_P_IST.
One common way to do manual adjustment of the motor is to make a JOG function by
using Velocity mode. After a JOG function the P_IST may be left outside the rotary table
position range, so switching back to Position mode may cause the motor to move 'unex
-
pectedly'. It is generally recommended to set the maximum velocity V_SOLL, to zero
when exiting a JOG operation and update P_IST and P_SOLL to desired values before
setting V_SOLL back to a non-zero value.
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