JVL MIS17 Series User Manual page 163

6.5
Zero point offset Example.
Setup done before start:
- Zero search velocity = -128 rpm
- Zero search position = - 10000 counts
6.5.9 Setting up zero search without MacTalk
If MacTalk is not used for setting up parameters/registers related to the zero search 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 zero search operation are:
Zero search basic settings:
R38 P_HOME
R40 V_HOME
R41 T_HOME
R42 HOMEMODE
JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x
Zero search modes
Zero search sensor
Step 1
Motor decelerate and stops behind the sensor
The motor moves in positive direction with 2 RPM which is
Step 2
1/64 of the defined «Zero Search Velicity» and the actual
position counter is set to the «Zero Search position» which
is -10000 count..
The motor is set back in the selected «Start up mode» which
Step 3
in this example is «Position mode». Since the target position
is default 0 it moves to position 0 and stops. The zero search
is finished !
MacTalk name: "Zero search position"
The found zero point is offset with this value.
See also P_Home, page 203
MacTalk name: "Zero search velocity"
The velocity to use during zero search.
Set a negative velocity to search in the negative direction.
See also V_Home, page 203
MacTalk name: "Zero search torque (0-100%)"
The measured torque where the zero search must end.
See also T_Home, page 203
MacTalk name: "Zero search mode"
Selects the zero search type that should start on power up.
See also Home
Position before zero search
("Sensor Type 2")
The motor moves in negative
direction with 128 RPM defined by
« Zero search velocity » setting
mode, page 203
START
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