Examples - JVL MAC00-EC41 User Manual

5.7
5.7.1 Running Velocity control
To use the JVL motor in velocity mode the following registers are basically of interest.
1. "Mode" - Mode register register 2
2. "V_SOLL" - Velocity register 5
3. "A_SOLL" - Acceleration register 6
4. "Error/Status" - Error and status register 35
So, to control these registers the cyclic data needs to configured.
From MacTalk the setup is configured as this.
With the settings illustrated above we initiate the velocity mode by writing 0x1 to the first
word-value, this is velocity mode.
From the Master the registers is accessed using the PDO21 and accessing the registers
R/W on words 1-5.
Since different PLC's have different methods of implementation the basic steps is de-
scribed in the following. (Constant values valid for MAC800, for other motors, please
consult the motor manual)
1. Set the needed velocity. V_SOLL = V x 2.77 [rpm]
Ex. We need the motor to run with a constant speed of 1200 RPM. So, V_SOLL =
1200/2,77 = 433 cnt/smp
2. Set the needed acceleration. A_SOLL = A x 271 [RPM/s²]
Ex. We need the motor to accelerate with 100000 RPM/s² so, A_SOLL = 100000/
271 = 369 cnt/smp².
3. Now set the motor into velocity mode and thereby activate the motor.
Ex. The motor needs to be activated by setting it into velocity mode, so we need to
set the mode register to the value 1. Mode = 1 which is velocity mode, now the mo-
tor will use the acceleration and the velocity just configured.
Please find a complete list of register descriptions in the appendix.
Motor registers MAC050 - 141, page 264 or
Motor registers MAC400 - 4500, page 273 or
Motor registers MISxxx, page 292
JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors

Examples

TT3016GB
The actual velocity is transferred in the 1. word
The 5. word holds the data from the error/status
register. This data is a bitfield structure holding both
motion related information and present error type.
The operation mode is set in the 1. Word,
0=passive mode and 1=Velocity mode.
Use passive mode to stop the motor and
velocity mode to start the motor.
The requested velocity is set in the 3. word
The requested acceleration is set in the 5. word
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