JVL MIS17 Series User Manual page 191

8.2
Gear mode (3)
The GEAR mode works as position mode, but has an additional feature. The input on the
external encoder is multiplied with GEAR1/GEAR2 and added to P_SOLL. Any remain-
der of the result is saved and used next time the external encoder changes.
The result is that this mode can be used as an electronic gear.
When using gear mode, it is not recommend to set V_START below 10 rpm. This can
gives problems at low speeds, because the motor will lag behind when doing the first
step. It will then accelerate in order to catch up.
NOTE: Time from the first input pulse to the first step is typically 30-60μs if not on
standby. 72-102μs if on standby.
Stop mode (11)
When changing from an active mode (Velocity, Position, Gear) to passive mode the mo-
tor decelerates with A_SOLL (or D_SOLL if not = 0) before it goes passive.
Zero search type 1 (13)
When the operation mode is set to 13, the controller will start the search for the zero
point. See
Zero search type 2 (14)
When the operation mode is set to 15, the controller will start the search for the zero
point. See
Safe mode (15)
This mode is similar to passive mode, but also allows the "save in flash" and "reset" com-
mands. Safe mode cannot be entered/exited directly; this must be done using the serial
commands ENTER/EXIT SAFEMODE.
Example:
Writing MODE_REG=2 will set the motor in position mode. When P_SOLL is changed,
the motor will move to this position with the specified max velocity (V_SOLL) and accel-
eration (A_SOLL).
Writing MODE_REG=13 will start a zero search for a sensor. When the search is com-
pleted, the MODE_REG will automatically be changed to the mode specified in START_-
MODE.
8.2.4 P_SOLL
Reg Name
3 P_SOLL
Description: The desired position. When in position mode, the motor will move to this position. This
value can be changed at any time. The maximum possible position difference is 2
relative movement is used, the P_SOLL will just wrap at 2
correctly.
The MISxxx motor family all have 409600 counts per motor revolution.
Example: If P_SOLL = 0 and then P_SOLL is set to 409600, the motor moves one revolution
forward.
JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x
Internal registers
"Sensor type 1" Zero search, page 160 for details.
"Sensor type 2" Zero search, page 160 for details.
Size Access
32bit R/W
Range Default
31 31
0
(-2 )-(2 -1)
Unit MacTalk name
Counts Position
31
-1 and the motor will move
31
-1. If
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