JVL MIS17 Series User Manual page 186

8.2
Reg Name
172 EXT_
ENCODER_
VEL
174 D_SOLL
175 Internal_Encoder_Setup 32bit R/W
176 FW_BUILD
177 InTargetPositionTime
179 BRAKE
Reg Name
The following parameters are only available when the CanOpen option is installed and only used for DSP‐402
NOTE: DSP‐402 is NOT supported yet!
180 ControlWord
181 StatusWord
182 ModeOf‐Operation
183 ModeOfOperationDisplay
184 Target‐Position
185 Reserved
186 Actual‐Position
187 Reserved
188 Target‐Velocity
189 Reserved
190 ActualVelocity
191 Reserved
192 Digital‐Outputs
193 Reserved
194 DigitalInput
195
186 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x
Internal registers
Size Access Range Default Unit
32bit R 31 ‐
(‐2 )‐
31
(2 ‐1)
32bit R/W 1‐ 1000
500,000
‐ ‐
32bit R 32 ‐1) ‐
0‐(2
32bit R/W 32 ‐1) 10
0‐(2
32
32bit R/W ‐1) ‐
0‐(2
Size Access Range
32bit R/W 0‐65535
32bit R 0‐65535
32bit R/W 0‐255
32bit R 0‐255
32bit R/W 31
(‐2
32bit R 31
(‐2
31
32bit R/W
(‐2
31
32bit R
(‐2
32bit R/W 0‐65535
32bit R 0‐65535
Description
Counts/16ms This register is updated with the velocity of the
external encoder input. The velocity is measured
every 16ms.
RPM/s The deceleration ramp to use. If this value is
changed during at movement it will first be active
when the motor stops or changes direction. If 0,
A_SOLL is used for deceleration.
Special Bit 0‐1: Hysteresis (0, 0.17, 0.35, 0.70 deg)
Bit 2‐4: Resolution (16,15,14,13,12*,11,10*,9)
Bit 5: Filter cutoff (16 kHz, 3 kHz)
Bit 6: Filter time (0, 1.2 us)
*Closed loop compatible
Counts Current firmware build number.
ms Time the motor must stand still before
InTargetPosition flag is set.
Special Selects which one of the eight I/O pins to use for
the external brake.
Default Unit
0 ‐
0 ‐
0 ‐
0 ‐
31 0 ‐
)‐(2 ‐1)
31 0 ‐
)‐(2 ‐1)
31
0 ‐
)‐(2 ‐1)
31
0 ‐
)‐(2 ‐1)
0 ‐
0 ‐
Description MacTalk name
Object 6040 subindex 0
Object 6041 subindex 0
Object 6060 subindex 0
Object 6061 subindex 0
Object 607A subindex 0
Object 6064 subindex 0
Object 60FF subindex 0
Object 606C subindex 0
Object 60FE subindex 1
(Low 16bit)
Object 60FD subindex 1
(Low 16bit)
MacTalk
name
External
encoder
Velocity
Deceleration
N/A
"Status bar"
N/A
N/A