JVL MIS17 Series User Manual page 105

5.3
5.3.6 Setup without MacTalk
If MacTalk is not used for setting up parameters/registers related to the closed loop fea-
ture it must be done as follows.
The motor contains a number of registers which can be accessed from various protocols
depending at which options the motor has.
Protocols available are for example Ethernet (EthernetIP, PROFINET etc.) and CAN-
open, Modbus or the MacTalk protocol.
Each field in MacTalk described earlier in this chapter is accessing a register in the motor.
The registers that are relevant for closed loop operation are:
R25
R35
R124
R217
R245
Other registers that may be relevant for the closed loop operation:
R5
R6
R7
JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x
Closed loop operation
STATUS_BITS
ERR_BITS
SETUP_BITS
ACTUAL_TORQUE
CL_CATCH_UP
V_SOLL
A_SOLL
RUN_CURRENT
Overall status related to the closed loop feature.
- Bit 15: Closed loop lead/lag
- Bit 16: Closed loop activated
- Bit 17: Internal encoder calibrated
- Bit 20: Internal encoder ok
See also: Status bits, page 198
Error status related to the closed loop feature.
Following bits are available in the setup bit register.
- Bit 12: Closed loop error.
- Bit 14: Abs. single turn encoder (H2/H4) error.
See also: Err_Bits, page 201
This register is used to activate or deactivate the
closed loop and current control feature.
Following bits are available in the setup bit register.
- Bit 24: Enable closed loop
- Bit 25: Enable closed loop current control
See also: Setup_Bits, page 213
The actual motor current in closed loop with active
current control. 2047 = 100% current.
See also: ACTUAL_TORQUE, page 229
In case the motor lags behind in closed loop mode
this register determine which over speed that is al-
lowed to catch up to the right position.
It also determines how much the motor can slip be-
hind before the overspeed is used to catch up.
- Bit 0-7: Allowable overspeed in percent (0-100)
- Bit 8-31: Follow error limit before overspeed is
used (encoder counts).
See also: CL_CATCH_UP, page 233
The maximum (nominal) velocity allowed.
See also: V_SOLL, page 192
The acceleration/deceleration ramp to use.
See also: A_SOLL, page 192
The maximum motor current is setup in this regis-
ter. See also: Run_Current, page 192
Only MISxxx---H2/H4---
105