Mactalk Communication - JVL MAC050 User Manual

5.11

MacTalk communication

When using the RS232 or RS422 serial links, it is possible to access all the internal regis-
ters in the motor.
This gives the same possibilities as using the general installation and monitoring program
MacTalk.
In addition to these features, many more are accessible. In total, the MAC motor contains
more than 150 internal registers such as nominal velocity, actual position, etc. but please
note that several registers are not for the normal user and damage may occur if the con-
tents of these registers is changed. These registers are marked in grey in the table below.
Register
number Name
1 PROG_VERS.
2 MODE_REG
3 P_SOLL
5 V_SOLL
6 A_SOLL
7 T_SOLL
10 P_IST
12 V_IST
14 GEARF1
15 GEARF2
16 I2T
17 I2TLIM
28 MIN_P_IST
30 MAX_P_IST
32 ACC_EMERG
33 INPOSWIN
JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800
Width Unit
Word -
16 bit -
32 bit Encoder counts
16 bit Counts/sample
16 bit Counts/sample²
16 bit -
32 bit Encoder counts
16 bit Counts/sample
Integer -
Word -
Word -
Word -
Long Int. Encoder counts
Long int. Encoder counts
Word Counts/sample²
Word Encoder counts
Only MAC050 to 141
Description
Shows the actual version of the firmware.
The current MAC motor mode:
0: Passive
1: Velocity
2: Position
3: Gear Mode
4: Analog Torque mode
5: Analog Velocity mode
6: Analog Velocity/Gear mode.
7-11: Reserved for special purposes
12: Torque zero search
13: Sensor type 1 zero search
14: Sensor type 2 zero search
The commanded position
Desired velocity 1RPM=2.097 counts/sample.
The maximum allowed acceleration.
1000 RPM/s = 4.026 Pulses/Sample²
The maximum allowed torque.
1023 = 300%.
The actual position
Actual velocity. 1RPM=2.097 counts/sample.
Gear output factor. Used in gear mode
Gear input factor. Used in gear mode
Motor temperature calculated
Error trip level used for I2T register.
Software position limit - positive
Software position limit - negative
The maximum allowed deceleration when a Unre-
coverable error has occurred.
1000 RPM/s = 4.026 Pulses/Sample²
If actual position is within this window, the motor is in
position.
283