JVL MIS17 Series User Manual page 180

8.2
Reg Name
22 FLWERRMAX
23 Reserved
24 COMMAND
25 STATUSBITS
26 TEMP
28 MIN_P_IST
29 Reserved
30 MAX_P_IST
31 Reserved
32 ACC_EMERG
33 IN_POSITION_WINDOW 32bit R/W
34 IN_POSITION_COUNT
180 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x
Internal registers
Size Access Range
31 31
32bit R/W
(‐2 )‐(2 ‐1)
32bit R/W FastMac
commands:
0‐127
Other:
256‐
32bit R ‐
32bit R
31 31
32bit R/W
(‐2 )‐(2 ‐1)
31 31
32bit R/W
(‐2 )‐(2 ‐1)
32bit R/W 1‐500,000
32‐
0‐(2 1)
32bit R/W 0‐100
Default Unit Description
0 Steps The maximum allowed value in FLWERR before
an error is triggered. If FLWERRMAX = 0, the
error is disabled.
(intended for 64‐bit FLWERRMAX hi‐word)
0 ‐ Used to issue commands to the motor. 0‐127 is
the normal FastMac commands.
‐ Special Status bits:
Bit 0: Reserved
Bit 1: AutoCorrection active
Bit 2: In Physical Position
Bit 3: At velocity
Bit 4: In position
Bit 5: Accelerating
Bit 6: Decelerating
Bit 7: Zero search done
Bit 8: PassWord lock
Bit 9: Magnetic encoder error
Bits 10‐13: Reserved
Bit 14: Electromech. brake active (Int./Ext.)
Bit 15: Closed loop lead/lag detected
Bit 16: Closed loop activated
Bit 17: Internal encoder calibrated (ready for
closed loop)
Bit 18: Standby current is used
Bit 19: STO enabled
Bit 20: Internal encoder ok
Bit 21: Ethernet sync activated
Bit 22: In target position
Bit 23: STO channel A ok
Bit 24: STO channel B ok
Bit 25‐31: Reserved
‐ ‐2.27 – Temperature measured inside the motor. See
uses the detailed description for information on the
offset value scaling.
0 Steps Negative software position limit
(intended for 64‐bit MIN_P_IST hi‐word)
0 Steps Positive software position limit
(intended for 64‐bit MAX_P_IST hi‐word)
10,000 RPM/s Acceleration to use when performing an
emergency stop when an error has occurred.
20000 Steps Selects how close the internal encoder position
must be to P_SOLL to set the InPhysical‐
Position status bit and prevent further
AutoCorrection.
2 Counts The number of times to attempt
AutoCorrection. A value of zero disables
AutoCorrection.
MacTalk
name
Error handling ‐>
Follow error
Special
command
Run Status
Temperature
Position limit
min
Position limit
max
Error
acceleration
In position
window
Max. number of
retries