Motor Registers Misxxx - JVL MAC00-EC41 User Manual

12.4
12.4.1 Register list for MIS motors.
Please notice: At the Ethernet modules all registers is transmitted as 32 bit.
!
Reg Name Size Access Range
1 PROG_ 32bit R
VERSION
2 MODE_REG 32bit R/W
3 P_SOLL 32bit R/W
4 Reserved
5 V_SOLL 32bit R/W
6 A_SOLL 32bit R/W
7 RUN_ 32bit R/W
CURRENT
8 STANDBY_ 32bit R/W
TIME
9 STANDBY_ 32bit R/W
CURRENT
10 P_IST 32bit R/W
11 Reserved
12 V_IST 32bit R
13 V_START 32bit R/W
14 GEAR1 32bit R/W
15 GEAR2 32bit R/W
16 ENCODER_ 32bit R/W
POS
17 Reserved
18 INPUTS 32bit R
19 OUTPUTS 32bit R/W
20 FLWERR 32bit R
21 Reserved
292 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors

Motor registers MISxxx

Default Unit
‐ ‐ Major*16 +
Minor +
16384 +
14
17*2^
0, 1, 2, 13, 0 ‐
14
31 31
0 Steps
(‐2 )‐(2 ‐
1)
‐300,000‐ 10000 0.01 RPM
300,000
1‐500,000 1000 RPM/s
0‐1533 511 C: 5.87 mA
B: 3.91 mA
A: 1.96 mA
1‐65535 500 ms
0‐1533 128 C: 5.87 mA
B: 3.91 mA
A: 1.96 mA
31 31
‐ Steps
(‐2 )‐(2 ‐
1)
‐300,000 ‐ ‐ 0.01 RPM
300,000
1‐300,000 1000 0.01 RPM
31 31
409600 Counts
(‐2 )‐(2 ‐
1)
31 31 2048 Counts
(‐2 )‐(2 ‐
1)
31 31 ‐ Steps
(‐2 )‐(2 ‐
1)
‐ ‐ Special
‐ 0 Special
31 31
‐ Steps
(‐2 )‐(2 ‐
1)
Description
The firmware version. The Bit 14 is set to indicate that the
type is a stepper motor controller, while bits [19:14] are set
to the specific motor type, where 17 means SMC85xx.
Controls the operating mode of the motor.
0 : Passive
1 : Velocity mode
2 : Position mode
13 : Zero search type 1
14 : Zero search type 2
32: Cyclic Synchronous Position mode (Ethernet only)
The desired position. When in position mode, the motor will
move to this position. This value can be changed at any time.
(intended for 64‐bit P_SOLL hi‐word)
The maxium allowed velocity. When in velocity mode the
motor will run constantly at this velocity.
Specify a negative velocity to invert the direction.
This value can be changed at any time.
Example: The value 25000 selects 250 RPM
The acceleration/deceleration ramp to use. If this value is
changed during at movement it will first be active when the
motor stops or changes direction.
Current to use when the motor is running. The unit depends
on the driver: C = 9 A, B = 6 A, A = 3 A.
Number of milliseconds before changing to standby current.
The standby current. The unit depends on the driver:
C = 9 A, B = 6 A, A = 3 A.
The actual position. This value can be changed at any time.
(intended for 64‐bit P_IST hi‐word)
The current velocity.
The start velocity. The motor will start the acceleration at
this velocity.
The multiplier of the gear factor
The divider of the gear factor
If the encoder option is installed, this show the position
feedback from the encoder.
(intended for 64‐bit ENCODER_POS hi‐word)
The current status of the digital inputs.
The current status of the digital outputs, can be written to
change the outputs.
When the encoder option is installed this shows encoder
deviation from the calculated position (P_IST).
(intended for 64‐bit FLWERR hi‐word)
MacTalk
name
"Status bar"
Current Mode
Position
Max velocity
Acceleration
Running
Current
Standby Time
Standby
Current
Actual
position
Actual
velocity
Start velocity
Output
Input
Encoder
position
"Status bar"
"Status bar"
Follow error