JVL MIS17 Series User Manual page 196

8.2
8.2.20 Command
Reg Name
24 COMMAND
Description: Used to issue commands to the motor.
There are 2 kind of commands
•
FastMac commands:
A FastMac command typically excecutes multiple operations by only one command.
These commands is therefore very usefull if timing is critical. Often FastMac com-
mands are used in a eRxP program.
•
General commands:
These commands are a kind of system commands which can be used to activate or
read speciel functions/values inside the motor/controller.
All the FastMac and general commands is defined as a number which is simply written to
the COMMAND register.
Number 0-128 are the FastMac commands.
The values 128-255 are reserved.
Commands number 256 and higher is the Normal commands.
8.2.21 Table of FastMac commands
Number
97 (FastMac 1)
98 (FastMac 2)
99 (FastMac 3)
101 (FastMac 5)
103 (FastMac 7)
108 (FastMac 12)
109 (FastMac 13)
110 (FastMac 14)
111 (FastMac 15)
196 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x
Internal registers
Size Access Range
0-127,
32bit R/W
255-1000
Description
Clear errors and warnings
Target position = 0 (P_SOLL = 0)
Actual position = 0 (P_IST = 0)
Target velocity = 0 (V_SOLL = 0)
Clear flags: "In Position", "Acceleration" and "Deceleration"
Set P_SOLL = Position register 1
Set V_SOLL = Velocity register 1
Set A_SOLL = Acceleration register 1
Set Running current = Current register 1
Set P_SOLL = Position register 2
Set V_SOLL = Velocity register 2
Set A_SOLL = Acceleration register 2
Set Running current = Current register 2
Set P_SOLL = Position register 3
Set V_SOLL = Velocity register 3
Set A_SOLL = Acceleration register 3
Set Running current = Current register 3
Set P_SOLL = Position register 4
Set V_SOLL = Velocity register 4
Set A_SOLL = Acceleration register 4
Set Running current = Current register 4
Default Unit
0 -
MacTalk name
Special command