116 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x
8.1 Introduction to registers
All of the motor registers can be accessed either through the RS485 interface or over
CANopen.
When accessing registers over CANopen, they are mapped to object indexes 2012 and
2014 (hex) with the sub-index equal to the register number 1...255. Use index 2012 for
the 32-bit registers and index 2014 for the 16-bit registers.
For example to access register 3, P_SOLL, use index 2012, subindex 3. To access reg-
ister 5, V_SOLL, use index 2014, subindex 5. This is described in more detail in CANopen
Introduction, page 215.
All of the registers can be accessed over CANopen with the same Read/Write access re-
strictions as when using the RS485 interface.
Some registers are tagged as R for Read-only. There are different reasons for this, such
as protecting the serial number from being changed or indicating that the value in regis
-
ters, such as analogue Inputs, will never be read by the motor but always overwritten us-
ing the latest sampled values.
In the following sections and examples, position, velocity and acceleration values are
based on a 200 step motor running with 1/8 steps having 1600 increments per revolution
in total.
Due to the fact that the MIS23x and SMC75 is based on a 16bit microprocessor and the
larger MIS34x, MIS43x and the SMC85 are based on a 32 bit microprocessor there are
some minor differences between the mentioned product families.
To avoid any misunderstandings this chapter is therefore divided into 2 sections.
Chapter 8.2 is containing the register descriptions for MIS23x and SMC75.
Chapter 8.3 is containing the register descriptions for MIS34x, MIS43x and SMC85.
Please notice: An detailed register overview for all MISxxx and SMCxxx products exist
in the appendix.
MIS34/43/SMC85 Registers detailed, page 310
!
To Next Page
Loading...
Need help?
General
