JVL MAC050 - Page 88

84 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
2.18 High resolution velocity
The following registers are influenced by bit-26 in register 236, SETUP_BITS:
Operations, where one or more of the changed registers scaling is used:
Relative position using P_FNC
FastMac command 04: P_FNC = 0
FastMac command 08: P_FNC = (FLWERR - P7) * 16 or 1024
FastMac command 09: P_FNC = (FLWERR – P8) * 16 or 1024
FastMac commands 12, 13, 14, 15: Activate four sets of P, V, A, T, L, Z registers.
FastMac command 16: Relative position using P_FNC
FastMac command 17: Relative position offset P7
FastMac command 18: Relative position offset P8
FastMac command 23: Synchronize positions using P_NEW, absolute
FastMac command 24: Synchronize positions using P_NEW, relative
Register
number
Short name MacTalk
name
Description, when in high-resolution mode:
5 V_SOLL Max Velocity Scaled 64 times higher
6 A_SOLL Acceleration Scaled 64 times higher
8 P_FNC Internal
Position
64-bit, Scaled 64 times higher – low word
9 P_FNC_HI Internal
Position
64-bit, Scaled 64 times higher – high word
9 INDEX_
OFFSET
Index position Moved to register 277 in high-resolution mode
28 MIN_P_IST Position/
Rot.table -Min
Unchanged scaling, operation range 64x higher
30 MAX_P_IST Position/
Rot.table –
Max
Unchanged scaling, operation range 64x higher
32 ACC_EMERG Error
Deceleration
Scaled 64 times higher
40 V_HOME Homing
Velocity
Scaled 64 times higher
43 P_REG_P - Activated Px register can use full range
44 V_REG_P - Activated Vx register must be scaled 64x higher
45 A_REG_P - Activated Ax register must be scaled 64x higher
49,51,53,
55, 57,59,
61,63
POS0-POS7 P1–P8 Unchanged scaling, operation range 64x higher
65-72 VEL0-VEL7 V1-V8 Activated register must be scaled 64x higher
73-76 ACC0-ACC3 A1-A4 Activated register must be scaled 64x higher
165 G_FNC - 64-bit, Scaled 64 times higher – low word
236 SETUP_
BITS
<various
checkmarks>
Bit-26, value 0x4000000 selects high-res mode.
276 INDEX_
OFFSET
Index position Moved from Register 9 in high-res mode,
277 G_FNC_HI - 64-bit, Scaled 64 times higher – high word