JVL MIS17 Series User Manual page 181

8.2
Reg Name Size Access Range
35 ERR_BITS 32bit R/W
36 WARN_BITS 32bit R/W
37 STARTMODE 32bit R/W
38 P_HOME 32bit R/W
39 Reserved
40 V_HOME 32bit R/W
41 T_HOME 32bit R/W
42 HOMEMODE 32bit R/W
43‐ Reserved 32bit R/W
45
46 AbsEncPos 32bit R
47 EXTENCODER 32bit R
48 FlexReg 32bit R
49‐ Pn 32bit R/W
64
JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x
Internal registers
Default Unit
0 Special
0 Special
0, 1, 2, 3 0 ‐
31 31
0 Steps
(‐2 )‐(2 ‐1)
‐300,000‐300,000 ‐5000 0.01
RPM
0‐2047 (0‐100 %) 1024 ‐
(50 %)
0,13,14 0 ‐
1‐8 0
0‐409,500 0 Steps
31 31
0 Counts
(‐2 )‐(2 ‐1)
‐ 0 ‐
31 31
0 Steps
(‐2 )‐(2 ‐1)
Description
Error bits:
Bit 0: General error (always set together with another
error bit)
Bit 1: Follow error
Bit 2: Output driver
Bit 3: Position Limit
Bit 4: Low bus voltage
Bit 5: Over voltage
Bit 6: Temperature >90 °C
Bit 7: Internal (Self diagnostics failed)
Bit 8: Absolute multiturn encoder lost position
Bit 9: Absolute multiturn encoder sensor counting
Bit 10: No comm. to absolute multiturn encoder
Bit 11: SSI encoder counting
Bit 12: Closed loop
Bit 13: External memory
Bit 14: Absolute single turn encoder
Bit 16: Zero search timeout
Bit 17: CVI unstable
Bit 18: Motor driver overload
Bit 27: Safe Torque Off (STO)
Warning bits:
Bit 0: Positive limit active
Bit 1: Negative limit active
Bit 2: Positive limit has been active
Bit 3: Negative limit has been active
Bit 4: Low bus voltage
Bit 5: Reserved
Bit 6: Temperature >80 °C
Bit 7: SSI encoder
Bit 8: Driver overload
Bit 9: Safe torque off active
The motor will change to this mode after power up. This
is also the mode that is used after a zero search is
completed.
See MODE_REG for a list of possible modes.
The found zero point is offset with this value.
(intended for 64‐bit P_HOME hi‐word)
The velocity to use during zero search. Set a negative
velocity to search in the negative direction.
Only used during Torque homing. Defines the torque
trigger level where the zero point is set.
Select the zero search that should start on power up.
Planned ‐ Not supported yet!
The position last read from the internal magnetic
encoder. This is the absolute single‐turn position.
The value from an external encoder, eg. SSI.
A mix of 16 bits from different registers. The user can set
this up.
8 position registers (odd numbered registers)
MacTalk
name
Errors
Warnings
Startup mode
Zero search
position
Zero search
velocity
Zero search
torque
Zero search
mode
Abs. encoder
position
SSI Encoder
value
Position n (Pn)
181