Page 1 Integrated Step Motors, QuickStep, MIS231, MIS232, MIS234, MIS340, MIS341, MIS342, MIS430, and MIS432 Including Step Motor Controller SMC75, SMC85 User Manual JVL Industri Elektronik A/S LB0053-22GB Revised 25.th. January 2016...
Page 2 This user manual must not be reproduced in any form without prior written permission of JVL Industri Elektronik A/S. JVL Industri Elektronik A/S reserves the right to make changes to informa- tion contained in this manual without prior notice. Furthermore JVL Industri Elektronik A/S assumes no liability for printing er- rors or other omissions or discrepancies in this user manual.
Page 3: Table Of Contents
Zero search modes ............................110 Error Handling ......................115 Registers ........................117 Introduction to registers ..........................118 MIS23x Registers ............................. 119 MIS34x & MIS43x Registers ..........................154 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 4: Table Of Contents
Velocity accuracy .............................322 16.4 Command timing .............................323 16.5 More about program timing ..........................324 16.6 Motor Connections ............................325 16.7 Serial communication ............................327 16.8 MIS Ordering Information ..........................332 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 5: Table Of Contents
Declarations ........................ 336 17.1 CE Declaration of Conformity ........................337 17.2 Vibrationtest certificate MIS23x ........................339 17.3 Vibrationtest certificates MIS34x ........................340 17.4 Index ................................342 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 6 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 7: Introduction
MIS230-234 Standard version with step and direction input Standard version SMC75A1 SMC85A1 Step motor controller MIS340 Step motor controller with Bluetooth SMD73 Step motor driver TT2319-01GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 8: Non-Programmable Motors
1.8 degrees. By changing the driver see also SMD73 Data-sheet and Tech- frequency of the applied pulse signal, it is possible to ac- nical Note. celerate the motor. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 9 05 for 5 metre and 20 for 20 metre cable. Versions with cable glands and 5 m cable Colour Code Description P+ (18-28VDC) Black Blue Direction White Pulse Shield Signal ground JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 10: Programmable Motors
PNP out- puts or analogue inputs. 5V serial and RS485 interface for set up and program- ming. • MODBUS interface. • 9.6 to 1Mb communication. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 11 H2 option - 1024 cpr MIS34x and MIS43x H2 option - 1024 cpr H3 option - 65536 cpr Optional Optional MIS34x, MIS34x, Ethernet MIS43x MIS43x Wireless Interface TT2140-02GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 12: General Description
“IN1” and “IN2”. Gear The gear ratio can be set to a large ratio by using register 14 (GEAR1) and register 15 (GEAR2). JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 13: Hardware - Intelligent Products
Please notice that the SMC75 controller PCB is used in all the MIS23x motors and the SMC85 controller PCB is used in all the MIS34x motors. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 14: Power Supply
12V, even in the event of a mains voltage drop. The Controller is protected against incorrect polarity connection but not over-voltage. Warning: Power supply voltage higher than 50VDC will cause damages. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 15 48VDC. A lower voltage will decrease the speed/torque perfor- mance, and in general it is not recommended to run the motor at more than 300RPM if for example 24VDC is used as supply. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 16 Additionally, higher voltage gives better current and filter regulation and thereby better performance. If there is a tendency for motor resonance, a lower supply voltage can be a solution to the problem. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 17 80VDC (nominal). However the maximum performance is based on a 80V DC supply. A lower voltage will decrease the speed/torque performance. See also the torque curves in the appendix Section 13.4, page 280. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 18: Inputs
• High speed Pulse/direction on Input 1 and Input 2 for gear mode. • Positive and negative limit can be selected to any input 1 to 8 (only MIS23x) JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 19 The value of the resistance used depends on the supply voltage. The following resistances are recommended: Supply Voltage Recommended Resistance R 5-12VDC 1kOhm / 0.25W 12-18VDC 2.2kOhm / 0.25W 18-24VDC 3.3kOhm / 0.25W 24-30VDC 4.7kOhm / 0.25W JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 20 Note that filtering of the digital inputs does load the micro-controller, so if filtering of the digital inputs is not needed, ALL the inputs can be selected as high-speed to reduce the load. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 21: Analogue Inputs
Please the chapter Connector over- view for the MIS23x, page 33 or Connector overview for the MIS34x, page 35 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 22 A filter of 64 would simply copy the new sample to the rule, thus disabling the fil- tering. This completes the filtering of the analogue inputs. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 23 Confidence OK, no slope limitation needed, result = 100*(8/64)+96.171875*(56/64) ~= 96.65 units. Sample 81 = 100 Confidence OK, no slope limitation needed, result = 100*(8/64)+96.65*(56/64) ~= 97.07 units. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 24 99.65, 99.70, 99.74, 99.77, 99.80, 99.82, 99.84, 99.86, 99.88, 99.90, 99.91, 99.92, 99.93, 99.94, 99.95, 99.95, 99.96, 99.96, 99.97, 99.97, 99.98, 99.98, 99.98, 99.98, 99.99, 99.99, 99.99, …….100.0 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 25: User Outputs
(See diagram) • Internal ground clamp diodes Allowable output current as a function of duty cycle Number of outputs conducting sim ultaneously Duty Cycle (%) TT2180GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 26 If one or more outputs are short circuited, MacTalk will show Error “Output Driver” and Bit2 will be set in Err_Bits Section 8.2.26, page 129. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 27: Serial Interfaces Overview
Please the chapter Connector over- view for the MIS23x, page 33 or Connector overview for the MIS34x, page 35 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 28: Rs485 Interface
*** Each unit connected must be setup with an address via The MacTalk program. Stop bit = 1 If only one unit is connected no address is needed. Parity = None JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 29 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 30: Special Outputs
IPW =1 IPW =50 IP W =5 Settling tim e TT2206G B See also Cable WG1005 for MIS231A1C2N075 and mounted cable on MIS231a1C1N075 (Power Cable), page 30. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 31 3 of the output pins. Encoder position will also be available at an internal register and can be used in a PLC program. Output Encoder designation Index JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 32: Special Connections
Brown/Green White/Yellow Yellow/Brown Connector J8 Screen Cable WG1005 for MIS231A1C2N075 and mounted cable on MIS231a1C1N075 (Power Cable) Connector J2 Pin no. Function Colour Blue P-/GND Black/Screen JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 33: Handling Noise In Cables
If the last motor has no connection cable, a connector with a resistor soldered between the A- and B+ pins should be used. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 34 If a cable carries only RS-485 or only digital I/O, this simple and inexpensive form of shielding is recommended. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 35: How To Connect Mis23X
M12F5S05R M12M8T05N #: Only >50pcs order. x : 1~1Nm, 2~1.6Nm, 3~2.5Nm. z : 1~6.35mm shaft, 3~10.0mm shaft (only if x=3) yy : NO~No encoder. H2~built-in encoder JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 36 2.10 How to connect MIS23x Only MIS23x 2.10.2 M12 connectors M12 connectors layout and pin locations. TT2143GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 37: How To Connect Mis34X
Connector layout 5 pin Female 4 pin Female PWR (CN1) 5 pin Male 8 pin Female 12 pin Female 8 pin Male 17 pin Female TT2323-01GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 38 * Note: P+ and P- are each available at 2 terminals. Make sure that both terminals are connected in order to split the supply current in 2 terminals and thereby avoid an overload of the connector. (Continued next page) JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 39 1, 2, 3 and 4 are all fully independantly isolated from each other. Group 1 correspond to the housing of the motor which may also be connected to earth via the DC or AC input supply. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 40 Protection caps. Optional if connector is not used to protect from dust / liquids. IP67 protection cap for M12 WI1000-M12FCAP1 female connector. IP67 protection cap for M12 WI1000-M12MCAP1 male connector. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 41 * Note: P+ and P- are each available at 2 terminals. Make sure that both terminals are connected in order to split the supply current in 2 terminals and thereby avoid an overload of the connector. (Continued next page) JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 42 1, 2, 3 and 4 are all fully independantly isolated from each other. Group 1 correspond to the housing of the motor which may also be connected to earth via the DC or AC input supply. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 43 Protection caps. Optional if connector is not used to protect from dust / liquids. IP67 protection cap for M12 WI1000-M12FCAP1 female connector. IP67 protection cap for M12 WI1000-M12MCAP1 male connector. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 44 * Note: P+ and P- are each available at 2 terminals. Make sure that both terminals are connected in order to split the supply current in 2 terminals and thereby avoid an overload of the connector. (Continued next page) JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 45 1, 2, 3 and 4 are all fully independently isolated from each other. Group 1 correspond to the housing of the motor which may also be connected to earth via the DC or AC input supply. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 46 Protection caps. Optional if connector is not used to protect from dust / liquids. IP67 protection cap for M12 WI1000-M12FCAP1 female connector. IP67 protection cap for M12 WI1000-M12MCAP1 male connector. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 47 * Note: P+ and P- are each available at 2 terminals. Make sure that both terminals are connected in order to split the supply current in 2 terminals and thereby avoid an overload of the connector. (Continued next page) JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 48 1, 2, 3 and 4 are all fully independently isolated from each other. Group 1 correspond to the housing of the motor which may also be connected to earth via the DC or AC input supply. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 49 Protection caps. Optional if connector is not used to protect from dust / liquids. IP67 protection cap for M12 WI1000-M12FCAP1 female connector. IP67 protection cap for M12 WI1000-M12MCAP1 male connector. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 50 EITHER the “BYPASS” OR the “COM” connector. Not both. 36.0mm [1.42 inch] 54.0mm [2.126 inch] = Mounting holes 5.0mm [0.197inch] Ø4x8mm [Ø0.16x0.32inch] Ø4/8mm [Ø0.16/0.32inch] 77.0mm [3.031inch] 112.0mm [4.409inch] 118.0mm [4.646inch] TT3088-01GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 51 PA0190 is cable WI1000-M12F8TxxN relevant when PA0190 used with the MAC00-Ex41 is used with the Ethernet modules. MIS34x motors connection 8 Pin Female cable WI1000-M12F8TxxN JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 52 2.11 How to connect MIS34x Diagram of the internal details in the PA0190 Junction Box. TT3090-01GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 53: Led Indicators At The Mis34X
Motor moving Green Motor not in position Motor in position No error Error Power is applied to both Green Power is not applied. motor and module. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 54 Motor not in position Motor in position position CANopen Please see the DS303-3 standard error LED Power is applied to both Power Green Power is not applied. motor and module. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 55 1s. Double flash: Two flashes with a period of 200ms followed by 1s off period. Triple flash: Two flash- es with a period of 200ms followed by 1s off period.Flickering: Rapid flashing with a period of approximately 50ms (10 Hz). JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 56 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 57: Hardware Non-Intelligent Products
Hardware Non-intelligent products JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 58 Please contact your JVL distributor for further information. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 59: Using Mactalk
Using MacTalk JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 60: Using The Mactalk Software
The following pages describe the actual window for each mode and how the parameters affect MIS motor operation. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 61 MacTalk Address Only if more than one motor is connected to the same interface. The address specified in this field will determine which motor is communicated with. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 62 If the user decides to go offline the following text box is presented. Pressing “OK” disconnects the motor from the PC-application and all data can be edited without any interruption in the motor. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 63 The following warning box is presented. TT2328-01GB Choosing “No” will immediately upload all motor data, pressing “yes” will save all data in the open file. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 64: Main Screen
*) The analogue value of certain inputs can be read. Click at the input lamp and the ana- logue value will be shown. The upper value is the actual value and the lower value the filtered value. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 65 These values are not updated automatically. To update, place the cursor at the specific register value to the left of the box for new values, and click. Otherwise they only update at motor reset or power up. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 66 This screen is used for adjusting the Zero search sensor to the correct position when us- ing the index pulse of an encoder. The index pulse should be in the green area. If not, the sensor has to be adjusted. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 67 The Setup has to be selected to set up the Scope function correctly before use. Most reg- isters in SMC75 can be selected for viewing, different trigger functions can be selected, saving and loading scope pictures is possible, etc. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 68: How To Update Mactalk
After MacTalk have restarted the version number of the new MacTalk can be observed in the top of the screen. The complete update is finished !. TT2342-01GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 69: How To Update The Motor Firmware
Hint !: Some older products may not start after pushing the “start” button showed above. If this is the case simply swich off power wait 5 seconds and reapply power. The update should now start. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 70: How To Update The Encoder Firmware
Hint !: Some older products may not start after pushing the “start” button showed above. If this is the case simply swich off power wait 5 seconds and re-apply power. The update should now start. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 71: Description Of Functions
Description of functions JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 72: Adjusting The Motor Current
1.6 Nm at low speed. If the current is set to 1000 mA, the motor will be able to deliver 0.53Nm. See Run_Current, page 124 for information about Running Current and Standby_Current, page 125 for information about Standby Current. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 73: Auto Correction
Position bit 1 in register 25 all the time, also during a movement. If this bit is not set, the InPhysicalPosition bit will only be maintained after the motor has stopped moving. Continued next page JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 74 InPosition bits. The MacTalk program only supports setting a single output for each bit, however, since this is the normal case. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 75: Absolute Position Back-Up
When using values 81-88, the count is in units of 10 milliseconds. Register 124, SetupBits, selects to use Flash-based Absolute Multi turn Encoder func- tionality when bit 11 is set. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 76 The command 266 will set all error timestamps and all error counters to zero. All commands are entered in register 24 or in the Command field in Mactalk JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 77 The QuickStep series offers many ways of position control using encoders. From firm- ware V.2.6 SSI standard encoder is supported, and linear absolute positioning is possible using a SSI-encoder. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 78: Ssi Encoder/Sensor Interface
These 2 commands setup the RS485 interface covering the 4 lines to the SSI device for transmitting a clock and receiving data from to/from the SSI device. TT2479-01GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 79 To disable all interrupts in the processor while reading the encoder value, simply check this box. The SSI encoder reading is supported in QuickStep firmware from V2.7. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 80 Please bear in mind that if the external SSI device is tracking the position of something that moves the value and thereby the deviation from one sample to the next can be significant. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 81 6 set as output. Consult the datasheet for the specific encoder to read more about the behaviour of these settings and to make sure they are available. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 82 «Number of (x 10kHz) interrupts databits» Register 111 - «SSI_SETUP2» - Unsigned 16 bit integer. «Wait time» «Prepare time» (1µS * n) (1µS * n) TT2484-01GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 83 Not used / reserved «Prepare time» (1µS * n) «Gray to Bin converter» Activator (Set to 1" for Gray to bin " TT2483-01GB Set to "0" for no conversion) JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 84 Shortly after reading the bit value, the MISxxx/SMCxx will set the clock high and execute another cycle, where the data bit is sampled just before each rising clock. After the last data bit has been sampled, the clock stays high. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 85: Absolute Multi-Turn Encoder
1/50 shaft revolution corresponding to 7.2 mechanical degrees. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 86 First the new value that the encoder must be preset to must be typed here Secondly press «Set position» in order to preset the encoder counter with the new value. TT2339-01GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 87 When selected the in position flag will realtime indicate if the motor is within the TT2338-01GB position window compared to a perfect move. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 88 Optionally the desired position value (P_SOLL and P_IST) can be set to the same position by writing the value 119 to the register 24 (Command reg). JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 89 Battery level when temp. = 40deg.(108F) Batt Batt Battery level when temp. = 85deg.(185F) 9 10 11 12 13 14 15 16 17 18 19 20 Years JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 90 - How to Preset the encoder position., page 84. Finally press the "Clear Error” button in the main toolbar in order to clear any errors caused by the update. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 91: Position Limits
How to select the input(s) for the End of Travel Limit TT2471-01GB Select the negative and/or positive limit input(s) in these fields. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 92 Please notice that if the activated limit switch has caused an error then remember to clear the error register before the motor can be set back in normal operation. TT2472-01GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 93 Position Limit Min. In velocity mode the speed will internally be set to 0 when passing Position Limit Min, causing the motor to decelerate and stop. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 94 For further information about the internal registers that are behind the fields in MacTalk see also MIS23x: Min_P_IST, page 128 and Max_P_IST, page 129. MIS34x/43x: Min_P_IST, page 163 and Max_P_IST, page 164. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 95 The nor- mal acceleration is used on position limits in position and gear mode. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 96: Mechanical Zero Search
The Home Input can be set from MacTalk or via register Home_Mask (Section 8.2.68, page 142) It is possible to see when a zero-search is finished by reading a bit in Status bits (Sec- tion 8.2.21, page 128 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 97: Mode
The gear ratio can be set to a large ratio using register 14 (GEAR1) and register 15 (GEAR2). Zero search type 1 and type2: Searches for sensor to define a zero position (Reference point). JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 98: Passive Mode
It should thus be possible to turn the motor shaft as no voltage is connected to the motor. If there is encoder feed-back, the encoder counter will always register the cor- rect position. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 99: Velocity Mode
This mode is typically used for simple tasks or for applications in which an overall unit, such as a PC-board or PLC, controls velocity and positioning. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 100: Positioning Mode
PC/PLC via the interface. This mode is also well suited for setting up and testing systems. The mode is also used when programming is done. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 101: Gear Mode
Only MIS23x/SMC75: Start velocity is not used in this mode and the digital input filter is not used in this mode at input 1 and 2. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 102 - Pulse/direction is typically used as format in stepper motor systems. A pulse signal is applied to one input and the direction to another input. TT2463-01GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 103 To make this change, a small RxP program is required in addition to the settings in Section 6.4.2, page 100 Signal formats supported: G0392-10DK Continued next page JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 104 General guidelines concerning the I/O’s are given in the following chapters: - Inputs, page 16 or General, page 24. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 105 Logic 0" = < 1.0V " cause the motor cause the motor Logic 1" = > 2.8V " to move CW to move CCW TT2464-01GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 106 Ch. B is 90 degree ahead transition on either which will cause the motor which will cause the motor TT2467-01GB to move CW to move CCW the A or B channel JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 107 The motor calculate continuously «on the fly» the necessary deceleration length and starts decelerating according to the the setting in the acceleration register. The motor will reach target (80 counts) exactly without any overshoot. TT2468-01GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 108 Same relation as during acceleration. The motor will reach target (80 counts) exactly without any overshoot or time delay compared to the master position. TT2469-01GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 109 1000 1000 1600 409600 1600 (Equal to the MIS23x resolution) 1600 1600 409600 2000 2000 1600 409600 409600 409600 1600 409600 (Equal to the MIS34x/43x resolution) JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 110: Zero Search Modes
The MIS motor´s zero search facility is very flexible. The inputs for reference and limit switches must be set up correctly before use. The active levels must also be set up correctly. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 111 0 or the motor enters passive mode. ignore the reference switch input and use the actual position or index pulse as zero position before using the zero search position. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 112 Hint: Make sure the acceleration/deceleration is set to an appropriate value which stops the motor when the Zero search switch is detected but before mechanical collision. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 113 (position 0). started is set to the value specified in the Zero search complete. “Zero search position” register TT2171-02GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 114 The index pulse must be in the green area. If the index pulse is in the red area, the sensor must be moved slightly and the procedure repeated. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 115: Error Handling
Default is 0, meaning that the feature is disabled. Min. bus voltage This is the level of P+ at which the motor goes into error state “low bus voltage”. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 116 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 117: Registers
Registers JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 118: Introduction To Registers
Chapter 8.3 is containing the register descriptions for MIS34x, MIS43x and SMC85. Please notice: An detailed register overview for all MISxxx and SMCxxx products exist in the appendix. MIS34/43/SMC85 Registers detailed, page 310 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 119: Mis23X Registers
Follow Error Max )-(2 0-127, 256, COMMAND 16bit STATUSBITS 16bit Special Run Status -2.27 TEMP 16bit uses Temperature offset Reserved MIN_P_IST 32bit Steps Position Limit Min )-(2 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 120 16bit 0-65535 graphically) Reserved Pulse signal PulseDirMask 16bit 0-65535 Bit mask Direction signal Pulse/Direction PulseDirMode 16bit mode Settling time Settling Time 16bit 0-32676 between retries Reserved JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 121 32bit Counts )-(2 BAUD_RATE 16bit Baud Rate TX_DELAY 16bit 0-255 Bits Transmit Delay GROUP_ID 16bit 0-255 Group ID GROUP_SEQ 16bit 0-255 MY_ADDR 16bit 0-254 Motor Address JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 122 Actual Velocity 32bit Object 606C subindex 0 Object 60FE subindex 1 Digital Outputs 16bit 0-65535 (Low 16bit) Object 60FD subindex 1 Digital Input 16bit 0-65535 (Low 16bit) JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 123 Notes: () = Values in brackets is 0 if the product contains an older processor type. TT2461-01GB Example: A MIS231 with the firmware version 1.7 will have the value Hex 0x4017 (Decimal 16407 or Binary 0100 0000 0001 0111) JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 124 Please note that if the motor needs to change direction, it will decelerate and stop, and the new A_SOLL and V_START will be active. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 125 If P_SOLL = -800 and then P_SOLL is set to 800, the motor moves one revolution forward. If P_IST = 231-100 (2147483548) and P_SOLL is set to -231+100 (2147483548), the motor will move 200 steps in the positive direction. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 126 Example: STANDBY_TIME = 200, will result in the controller switching to the standby current after 200ms. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 127 If V_SOLL = 400 and a movement of -10000 steps is done, V_IST will be -400 during the move and when the move is complete V_IST will be 0. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 128 The value can be used internally by the AutoCorrec- tion system to retry a movement in position and gear modes. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 129 Description: The maximum allowed value in FLWERR before an error is triggered. If FLWERRMAX = 0, the error is disabled. See register 35 (Err_Bits, page 129) for a description of the error bit. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 130 Position Limit Min )-(2 Description: Position limit for movement in the negative direction. The motor can be configured to stop automatically when it reaches this position. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 131 Some of the errors can be cleared by writing zero to this reg- ister. Other errors will require hardware fixes or intervention, such as allowing the motor cool down or adjusting the power supply voltage. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 132 Unit MacTalk name V_HOME 16bit -1023-1023 Zero Search Velocity Description: The velocity used during zero search. Set a negative velocity to search in the negative direction. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 133 The command is 0x0C (12d) From register 0x2F (47d) To register 0x3D (61d) 25bits 0x19 (25d) Get the actual value from the S SI enc oder Convert from binary TT2268GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 134 See also the sections on FastMac commands. They select the current in the motor windings used during movement. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 135 This value is the basis for the warnings and errors of Low Bus Voltage and Over Voltage. 8.2.41 Min_Busvol Name Size Access Range Default Unit MacTalk name MIN_BUSVOL 16bit 0-1023 109 mV Min Bus Voltage Description: Trigger point for under-voltage JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 136 If a new raw sample value is less than the value in this register, it is simply discarded and the filtered input value in registers 81-88 will not change. A value of zero in this register will effectively disable the minimum confidence check. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 137 The slope errors will be set if more than half of the samples within the last second were slope limited. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 138 MacTalk program supports only one output for each signal. The outputs selected here must be manually configured to operate as outputs using register 125 (IOsetup, page 140). JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 139 112-115. This value must never be set larger than the value in the read-only register 119. Sampling will stop automatically after the specified number of samples has been taken. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 140 Zero search/home position was found during Zero Search. This is selected by bit 0, Use Index, in register 122. It requires that the internal encoder option is installed. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 141 Bit 12: KeepExtEncoder. Do not zero the external encoder count in register 170, External_Encoder, on startup, but use the value loaded from flash memory. (Continued next page) JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 142 The lowest eight bits in this register can be used to individually invert the active lev- el of the digital inputs. The highest eight bits are used to select the corresponding pin as an output. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 143 Exactly one bit must be set, and the IO pin must be configured in register 125 as an input. Example: If input 7 is to be used for the Negative Input Limit, write 26 = 64 to this register. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 144 PDO22 or PDO4 (Beckhoff). Please observe that this is not working with DSP402. Example: Register133=5 will transfer register 5 (V_IST actual velocity, 16bit value) in PDO22 or PDO4. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 145 See register 35 (Err_Bits, page 129) for more information on errors. Example: If output 3 is to be used for the Error Output, write 22 = 4 to this register. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 146 This register selects when to consider the startup as completed and supply voltage as sta- ble. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 147 The register value can be copied to P_IST and P_SOLL using FastMac com- mand 23, or it can be added with sign to both of these registers using FastMac command JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 148 8.2.83 Group_Seq Name Size Access Range Default Unit MacTalk name GROUP_SEQ 16bit 0-255 Description: The last received group write sequence. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 149 Description: The actual motor type. Please notice that this register is in common for all motor families and sizes from JVL. The list show all available types including versions with build in brake (extension - B). This description primary covers the SMC75, MIS231, 232 and 234 where the Motor type register is only 16 bits.
Page 150 “Tooltip on HARDWARE_REV 16bit 0-65535 Minor Motor” +16384 Description: The revision of the hardware. This value is read-only and is programmed into the motor during manufacturing. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 151 MacTalk name NOTSAVED 16bit 0-65535 Description: This register is not used internally, but will always be 0 after power on. Please note that MacTalk uses this register JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 152 MacTalk name EXT_ENCODER 32bit Counts External Encoder )-(2 Description: This register counts the encoder input on IN1+IN2. The type of input is selected using SETUP_BITS bit 2+3. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 153 External Encoder 16bit )-(2 _VEL 16ms Velocity Description: This register is updated with the velocity of the external encoder input. The velocity is measured every 16ms. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 154: Mis34X & Mis43X Registers
Follow Error Max )-(2 0-127, 256, COMMAND 32bit STATUSBITS 32bit Special Run Status -2.27 TEMP 32bit uses Temperature offset Reserved MIN_P_IST 32bit Steps Position Limit Min )-(2 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 155 Filter (on the Filter of new AFZUP_Filter 32bit 1-64 setup screen) sample N/A (shown FilterStatus 32bit 0-65535 graphically) SSI_SETUP2 Settling time Settling Time 32bit 0-32676 between retries SSI_SETUP2 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 156 IO Mask MASK filter enabled INPUT_FILTER_ 32bit Input filter time Dedicated Outputs INPOS_MASK 32bit IO MASK - In Position Dedicated Outputs ERROR_MASK 32bit IO Mask - Error JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 157 Actual Velocity 32bit Object 606C subindex 0 Object 60FE subindex 1 Digital Outputs 32bit 0-65535 (Low 16bit) Object 60FD subindex 1 Digital Input 32bit 0-65535 (Low 16bit) JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 158 Notes: () = Values in brackets is 0 if the product contains an older processor type. TT2461-01GB Example: A MIS231 with the firmware version 1.7 will have the value Hex 0x4017 (Decimal 16407 or Binary 0100 0000 0001 0111) JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 159 Please note that if the motor needs to change direction, it will decelerate and stop, and the new A_SOLL and V_START will be active. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 160 If P_SOLL = -800 and then P_SOLL is set to 800, the motor moves one revolution forward. If P_IST = 231-100 (2147483548) and P_SOLL is set to -231+100 (2147483548), the motor will move 200 steps in the positive direction. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 161 Example: STANDBY_TIME = 200, will result in the controller switching to the standby current after 200ms. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 162 If V_SOLL = 40000 (400 RPM) and a movement of -10000 steps is done, V_IST will be -40000 (400 RPM) during the move and when the move is complete V_IST will be 0. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 163 The value can be used internally by the AutoCorrec- tion system to retry a movement in position and gear modes. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 164 Description: The maximum allowed value in FLWERR before an error is triggered. If FLWERRMAX = 0, the error is disabled. See register 35 (Err_Bits, page 129) for a description of the error bit. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 165 Position Limit Min )-(2 Description: Position limit for movement in the negative direction. The motor can be configured to stop automatically when it reaches this position. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 166 Some of the errors can be cleared by writing zero to this register. Other errors will require hardware fixes or intervention, such as allowing the motor cool down or adjusting the power supply voltage. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 167 V_HOME 32bit RPM/100 Zero Search Velocity (0.01-3000RPM) (50 RPM) Description: The velocity used during zero search. Set a negative velocity to search in the negative direction. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 168 EXTENCODER register by using command 322 instead. For further description of the external encoder interface using SSI format please consult The SSI interface principle of operation., page 82 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 169 See also the sections on FastMac commands. They select the current in the motor windings used during movement. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 170 This value is the basis for the warnings and errors of Low Bus Voltage and Over Voltage. 8.3.41 Min_Busvol Name Size Access Range Default Unit MacTalk name MIN_BUSVOL 32bit 0-1023 109 mV Min Bus Voltage Description: Trigger point for under-voltage JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 171 If a new raw sample value is less than the value in this register, it is simply discarded and the filtered input value in registers 81-88 will not change. A value of zero in this register will effectively disable the minimum confidence check. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 172 The slope errors will be set if more than half of the samples within the last second were slope limited. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 173 MacTalk program supports only one output for each signal. The outputs selected here must be manually configured to operate as outputs using register 125 (IOsetup, page 140). JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 174 112-115. This value must never be set larger than the value in the read-only register 119. Sampling will stop automatically after the specified number of samples has been taken. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 175 Bit 3: (Use Limit switch as sensor) - Not available in MIS34x and MIS43x. Bit 4: Ignore switch (Used for searching only for index) Contains configuration bits, that define how Zero search should be carried out. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 176 The lowest eight bits in this register can be used to individually invert the active lev- el of the digital inputs. The highest eight bits are used to select the corresponding pin as an output. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 177 Exactly one bit must be set, and the IO pin must be configured in register 125 as an input. Example: If input 7 is to be used for the Negative Input Limit, write 26 = 64 to this register. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 178 PDO22 or PDO4 (Beckhoff). Please observe that this is not working with DSP402. Example: Register133=5 will transfer register 5 (V_IST actual velocity, 32bit value) in PDO22 or PDO4. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 179 See register 35 (Err_Bits, page 129) for more information on errors. Example: If output 3 is to be used for the Error Output, write 22 = 4 to this register. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 180 This register selects when to consider the startup as completed and supply voltage as sta- ble. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 181 The register value can be copied to P_IST and P_SOLL using FastMac com- mand 23, or it can be added with sign to both of these registers using FastMac command JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 182 8.3.83 Group_Seq Name Size Access Range Default Unit MacTalk name GROUP_SEQ 32bit 0-255 Description: The last received group write sequence. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 183 Description: The actual motor type. Please notice that this register is in common for all motor families and sizes from JVL. The list show all available types including versions with build in brake (extension - B). This description primary covers the SMC85, and the MIS34x family.
Page 184 “Tooltip on HARDWARE_REV 32bit 0-65535 Minor Motor” +16384 Description: The revision of the hardware. This value is read-only and is programmed into the motor during manufacturing. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 185 MacTalk name NOTSAVED 32bit 0-65535 Description: This register is not used internally, but will always be 0 after power on. Please note that MacTalk uses this register JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 186 MacTalk name EXT_ENCODER 32bit Counts External Encoder )-(2 Description: This register counts the encoder input on IN1+IN2. The type of input is selected using SETUP_BITS bit 2+3. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 187 External Encoder 32bit )-(2 _VEL 16ms Velocity Description: This register is updated with the velocity of the external encoder input. The velocity is measured every 16ms. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 188 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 189: Building Sequential Programs
Building Sequential Programs JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 190: Getting Started With Programming
Choose here to make a new program Optionally uploads the actual program previously stored in the module. TT2188GB After making one of these 2 choices, the program window will be opened. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 191: Programming Main Window
When paused the single step feature can be used to debug the program. TT2189GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 192: Programming Menu
MacTalk later. Program + Source Same as above but without remarks. Program only Only the compiled program is transfered. TT2173GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 193: How To Build A Program
Choose to wait until input 5 is high and press OK The command is inserted at the previous selected program line Continued TT0983GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 194 Press the “Transfer & Start” button. Now the program will be transfered and stored permanently in the module. The program will be executed immidiately Continued TT0984GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 195 I/O setup etc. Everything is stored in a file with the extension .MAC . Later it can be opened and restored in the motor. TT0985GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 196: General Programming Hints
3. A program line can be edited by double-clicking on the command text. 4. When the cursor is placed on top of the command icon, an edit menu will be shown by right-clicking. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 197: Command Toolbox Description
20.0 5664 2832 32.0 4532 16.0 2266 24.0 3398 12.0 1699 16.0 2266 1133 1133 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 TT1003GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 198: Graphic Programming Command Reference
1.3.1., Basic modes/functions in the QuickStep motor, page 10. 9.7.3 Move operations Icon: Function: The Move command is very flexible, with five different operating modes. Each mode is described in its own section below. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 199 If this option is not checked, the program will start the movement, then immediately start executing the next command. The motor will finish the movement on its own, unless given other instructions by the program. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 200 Register no. 49 (P1) is always overwritten by this command. This command always waits until the movement is finished, before proceeding to the next line in the program. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 201 Register no. 49 (P1) is always overwritten by this command. This command always waits until the movement is finished, before proceeding to the next line in the program. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 202 If this option is not checked, the program will start the movement, then immediately start executing the next command. The motor will finish the movement on its own, unless given other instructions by the program. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 203 Register no. 49 (P1) is always overwritten by this command. This command always waits until the movement is finished before proceeding to the next line in the program. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 204 (in milliseconds) of a pulse to send out on that output. When setting multiple outputs, you can specify whether to set each output high, low, or leave it in its current state. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 205 After pressing the OK button, the dialogue will disappear, and the mouse cursor will change. The next program line that you click on will then become the destination of the jump command. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 206 After pressing the OK button, the dialogue will disappear, and the mouse cursor will change. The next program line that you click on will then become the destination of the jump command. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 207 (Falling Edge), or that the input transitions from low to high (Rising Edge). The input is tested with 30 microsecond intervals. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 208 If set to ‘Or’, only one input need match its test setting. Inputs that are set to ‘Don’t care’ are not tested. The inputs are tested with 30 microsecond intervals. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 209 After pressing the OK button, the dialogue will disappear and the mouse cursor will change. The next program line that you click on will then become the destination of the jump command. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 210 Saves the current position from register no. 10 (P_IST) to one of three locations in the user memory area. The saved position(s) can then be used whenever a position or distance is needed in a move command. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 211 Initiates a zero search. The program waits until the zero search has completed before proceeding to the next command. For a detailed description of how to set up a zero search, refer to Zero search modes, page 108 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 212 In the example above, the value in register no. 65 (V1) will be written to register no. 5 (V_SOLL). Move operations will then take place at that velocity. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 213 SMC75 programs can be done with a binary command. If special needs arise that are not covered by the other commands, contact JVL for assistance. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 214 ‘Set a register in the MAC motor’, ‘Jump according to a register in the MAC motor’, and ‘Wait for a register value before continuing’. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 215 A recognized register name will appear in the expression. An unrecognized register name will appear as a zero. You can switch between the two methods of data entry at any time. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 216 32-bit wide, and both measure position in encoder counts. Such a comparison will always yield meaningful, predictable results. For other types of registers, see the relevant register sections. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 217: Canopen Introduction
CANopen Introduction This chapter deals with JVL’s Step motor controller SMC75 and SMC85 which are used with the MIS23x and the MIS34x motor series on a CANopen network. The chapter covers the following main topics: General introduction: a section with general information about CANopen. See section 10.1.1 to section 10.1.5.
Page 218: General Information About Canopen
The de- vices are connected through a 2-wire bus cable with ground, and data is transmitted serially. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 219 This characteristic means that important messages are transmitted with high priority even in exceptional situations, thereby ensuring proper functioning of a system even dur- ing phases of restricted transmission capacity. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 220 The two bit fields “Header” and “Data” form the simplified CANopen message. The 11- bit Header is also designated as the identifier or as the COB-ID (Communication Object identifier). JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 221 10.1 General information about CANopen JVL uses the 11-bit format type CAN A, but not the 29-bit format type CAN B. The COB-ID carries out two tasks for the controller communications object. - Bus arbitration: Specification of transmission priorities. - Identification of communications objects.
Page 222: Connection And Setup Of The Can Bus
For support of the PLC master, the PLC vendor is recommended. If you are using a PC as master, JVL provides some tools that can help when installing and using the MIS23x (SMC75).
Page 223 The latest firmware for the MIS23x (SMC75) is available at JVL’s web-site under the menu downloads/firmware. In the site’s programs menu, the software CANopenExplor- er is also available, but note that this is not a free-ware program. Please contact your JVL representative for further information.
Page 224 CAN bus connectors: The MIS23x (SMC75) does not use 9-pin D-sub connectors and none of the cables JVL supplies are provided with a 9-pin D-sub connector, but the PIN configuration is also shown in the table below.
Page 225 M12 connector. When fitted to the SMC75 controller, this means that the screen will have contact with the complete motor housing and thereby also the power ground (main ground). JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 226: Using Canopenexplorer
The CANopen module must be connected to a CAN bus, as shown in section 10.2.6. To set up the master, download the EDS file from the JVL web site (see section 10.2.2). This file contains all register set-up data for the MIS23x (SMC75).
Page 227 10.3 Using CANopenExplorer TT1100GB 4: Select here on the +the manufacturer specific register. 5: Select thereafter the object 0x2012. Object 0x2012 contains the motor parameters. TT1101GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 228 9: Click on the sub register 0x03, which is the register to choose the distance the motor will run. Press W on the keyboard, type 20000 in the window, and type OK. The val- ue 20000 is in Steps JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 229 Double-clicking on a user SDO list will execute the operation, either reading or writing. The bus state can be changed using the NMT buttons, lower left, e.g. to Operational to enable PDOs. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 230 The Guard Time field below the Sync Time field works like SYNC - just for the Guarding message. The close button exits the program after saving the list of user SDOs, which will be au- tomatically reloaded at the next program start. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 231: Objects In The Ds301 Standard
Manufactur- VISIBLE er device 1008 JVL A/S STRING name Manufactur- VISIBLE er hardware 1009 STRING version Manufactur- VISIBLE er software 100A Example: Version x.x STRING version JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 232 After the module has started up and there is communication between the master and the slave, turn on the required error control mechanism in the communication objects, see section 10.4.1. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 233 1h, and the value range of this register is UNSIGNED32. The PDOs are enabled when bit 31 is 0, and is disabled when bit 31 is 1. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 234 • Write 0 in Number of Entries. • Remap to another object by writing to PDO Mapping Entry 1: 0x20140510. • Write 1 in Number of Entries. TT2494-01GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 235 This PDO can be used to update the position, velocity and acceleration. The data in the PDO is written directly to the position register and if the motor is in position mode, it will start moving to that position. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 236 2014h, sub 24 Object Receive PDO 24: This PDO updates the outputs. Byte Output data Reserved Reserved Reserved Res. Res. Res. Data 2014h, sub 19 Object JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 237 With this PDO the value of the analogue inputs 1-4 can be read. Byte ANALOGUE1 ANALOGUE2 ANALOGUE3 ANALOGUE4 Data 2014h, sub 89 2014h, sub 90 2014h, sub 91 2014h, sub 92 Object JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 238 32-bit register is set to (170 external encoder). To setup and use the Beckhoff mode, enable the Beckhoff support from MacTalk and press the Save in flash -button. T T 2267GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 239 2014h, sub 24 Object Receive PDO 4: This PDO updates the outputs. Byte Output data Reserved Reserved Reserved Res. Res. Res. Data 2014h, sub 19 Object JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 240 Reserved Reserved Reserved Res. Res. Res. Data User selectable 16-bit User selectable 32-bit register exc. 2014h, sub 18 register exc. ENCODER_POS Object STATUSBITS (register16) (register 25) JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 241: Objects Used In The Dsp-402 Standard
Please refer to this standard for details of the functions. The DSP-402 is only a standard proposal and might be changed in the future. JVL there- fore reserves the right to change future firmware versions to conform to new versions of the standard.
Page 242 Position_actual_value 6064 INTEGER32 Target_position 607A INTEGER32 Software_position_limit 607D UNSIGNED8 Software_position_limit_ 607D INTEGER32 Min_position_limit Software_position_limit_ 607D INTEGER32 Max_position_limit Max_motor_speed 6080 UNSIGNED32 Profile_velocity 6081 UNSIGNED32 Profile_acceleration 6083 UNSIGNED32 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 243 608F UNSIGNED32 Motor_revolutions Velocity_encoder_resolution 6090 UNSIGNED8 Velocity_encoder_resolution_ 6090 UNSIGNED32 Encoder_increments_per_second Velocity_encoder_resolution_ 6090 UNSIGNED32 Motor_revolutions_per_second Gear_ratio 6091 UNSIGNED8 Gear_ratio_Motor_revolutions 6091 UNSIGNED32 Gear_ratio_Shaft_revolutions 6091 UNSIGNED32 Feed_constant 6092 UNSIGNED8 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 244 Gear ratio - Motor revolutions 6091 subindex 2 Gear ratio - Shaft revolutions 6092 subindex 1 Feed constant - Feed 38956 6092 subindex 2 Feed constant - Shaft revolutions JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 245 The parameters should be set as follows: Object Name Value 6097 subindex 1 Acceleration encoder factor - Numerator 6097 subindex 2 Acceleration encoder factor – Divisor JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 246 Using this mode, different Zero Search sequences can be initiated. The standard Zero Search modes from 1-34 are supported. Before starting the Zero Search, the inputs must be configured properly using MacTalk or parameters 125,129,130,132. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 247 Status word 6061h Modes of operation display 6041h Status word 6064h Position actual value 6041h Status word 606Ch Velocity actual value 6041h Status word 60FDh Digital inputs JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 248: Flexible Register Setup
The setup can be done manually with SDO access or directly in MacRegIO. Please note: The function will only be activated if register 256 (FlexRegister bit 0 and 1) is set. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 249: More Details Of Canopen Theory
The communication Profile area contains the parameters for the communication profile on the CAN network. These entries are common to all devices. Index 2000-5FFF: The manufacturer-specific profile area, for truly manufacturer-specific functionality. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 250 See the figure below: NMT Slave NMT Master COB-ID = 700h + Node-ID Indication Request TT1085GB One data byte is transmitted with value 0. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 251 MIS23x (SMC75) is the consumer and for Transmit PDOs, the producer. The following figure shows a Write PDO service: PDO Producer PDO Consumers L = 0..8 Request Indication Proces data TT1086GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 252 This mechanism is called an expedited transfer. Download SDO protocol: The download SDO protocol is used to write the values of the object directory into the drive. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 253 [8-n,7] do not contain expedited set size is transfer by data transfer indicated the SDO CCS:Client command specified. SCS: Server commander specified. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 254 0601 0002h Attempt to write a read-only object 0602 0000h Object does not exist in the object dictionary 0604 0041h Object cannot be mapped to the PDO JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 255 SYNC Producer SYNC Consumers Request Indication TT1091GB The SYNC does not carry any data (L=0). The identifier of the SYNC object is located at object 1005h. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 256 In the Pre-Operational state, the node cannot process any PDOs. However, it can be parameterized or operated via SDO. This means set point can also be entered. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 257 The Node Life Time is calculated from the product of the Guard Time and Life Time Fac- tor. This is the maximum time that the slave waits for an RTR telegram. The figure below shows a Node Guarding/Life Guarding protocol. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 258 The Heartbeat Consumer guards the reception of the Heartbeat within the Heartbeat Consumer time. If the Heartbeat is not received within the Heartbeat Consumer Time, a Heartbeat Event will be generated. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 259 After the module has started up and there is communication between the master and the slave, activate the required error control mechanism in the object Dic- tionary. See section 10.4.1. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 260 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 261: Modbus Interface
Modbus interface JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 262: Modbus In Mis34X And Smc85
Contact JVL if more registers are needed in a single transfer. JVL recommends reading and writing as few 32-bit values as possible, normally 4 or max- imum 8 at a time. Whenever possible, split long commands into smaller commands. Also, only write the absolutely necessary values to the motor.
Page 263 Example to write P_SOLL (register 3) to motor with address 254, values in decimal: 254, 16, 0, 6, 0, 2, 4, bb, aa, dd, cc, NN, MM(NN and MM are the CRC-16 bytes) JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 264 High byte, Low byte. Command: 254, 16, 156, 70, 0, 2, 4, 65, 208, 0, 15, 232, 101 Response: 254, 16, 156, 70, 0, 2, 154, 66 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 265: Stand Alone Electronics
Stand alone electronics JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 266: Step Motor Drivers (Smdxx)
• SMD74 family: Supply voltage 18-48VDC. For special versions please contact your nearest JVL distributor. For further information on the pulse/direction driver see also SMD73/74 Data-sheet and Technical Note. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 267 05 for 5 metre and 20 for 20 metre cable. Versions with cable glands and 5 m cable Colour Code Description P+ (SMD73:18-28VDC or SMD74: 18-48VDC) Black Blue Direction White Pulse Shield Signal ground JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 268: Step Motor Controllers (Smcxx)
PNP outputs or analogue inputs. 5V serial and RS485 inter- face for set up and programming. • MODBUS interface. • 9.6 to 1Mb communication JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 269 Integrated Flash IN8 Analog 8 Digital 8 RS485 driver 1024 ppr magnetic incremental encoder CAN R Optional Tranciever CAN L Encoder Optional RS422 Optional TT2140GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 270 TT2158GB Both 2-phase and 4-phase step motors can be connected to the Controller, which utilises the “Bipolar Chopper” principle of operation, thus giving optimum motor performance. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 271 Housing 6 pin CI4406 S000 x 1 (Nylon UL94V-0) TT2152-02GB The figure below shows the generation 2 connector for future or special purposes. Please contact JVL for further information. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 272 Molex series - J1 Mini-Fit® Jr. fits into the board SMC85C1AA - Bottom side Mounting holes (x4) Ø3.0mm All have solid contact with GND (ground) TT2350-02GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 273: How To Connect The Motor
Note that P- is connected to the chassis and functions as the main ground on the Con- troller. See also Motor Connections Section 16.6, page 323, which describes how various models of motor should be connected to the Controller. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 274 If slow speeds are required (typically less than 1 kHz), the motor phases can be connect- ed in serial. For operation at higher speeds (greater than 1 kHz), the motor phases can be connected in parallel. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 275 In practice this means that if a motor with a large self-inductance (e.g. 100mH) is used, the Controller cannot supply the required phase current at high speeds (high rotational frequencies) since the output voltage is limited. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 276: How To Connect In General
5- pole connector 8-pole connector Pin no. Colour Pin no. Colour Brown White White Brown Blue Green Black Yellow Grey Grey Pink Blue Colour code for standard cables JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 277: Quick Start (Smc75A1Mxaa)
6. The motor and I/O status can be seen to the left under “Status”. 7. At “Motion Parameter”, key in 1600 counts at “Position”. The motor will now turn one revolution at the speed specified by “Max Velocity”. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 278: Technical Data
Technical Data JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 279: Mis23X Technical Data
A warning message is generated if the internal temperature passes 80°C The motor is set in passive mode if the temperature passes 90°C and an error message is generated. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 280: Mis34X Technical Data
Party Mode Addresses Encoder Functions Stall Detection, Position maintenance, Find Index Thermal Operating/storage temp. Ambient 0 to +40°C (32-104°F)/ -20 to +85°C. (-4 to 185 °F) (Humidity 90%). JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 281: Smc75 Technical Data
Voltage at any input Input (V Dominant CAN_H CAN_L Input (V Recessive -1.0 CAN_H CAN_L Output (V Dominant CAN_H CAN_L Output (V Recessive -500 CAN_H CAN_L JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 282: Torque Curves
Room temperature = 20°C MIS342 @80V MIS342 @48V MIS342 @24V MIS341 @80V MIS341 @24V MIS340 @80V MIS340 @48V MIS340 @24V 1000 1500 2000 2500 Speed (RPM) T T 2223-03GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 283 Room temperature = 25°C 3000 Preliminary 2500 MIS432 @24V MIS432 @48V 2000 MIS432 @80V 1500 1000 900 1000 1100 1200 1300 1400 1500 Speed (RPM) T T 2470-01GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 284: Physical Dimensions
13.5 Physical Dimensions Only MIS23x 13.5.1 Physical dimensions MIS231, MIS232 and MIS234 56.4 47 ± 0.2 Ø66.67 4 x Ø5.0 Ø38.1 ± 0.025 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 285 Physical dimensions MIS340, MIS341 and MIS342 10.03 [0.395] 103.9 [4.09] Optional 86.41 [3.402] Rear shaft: 69.57 [2.74] +0.1/0 [+0.004/0] 3 [0.118] +/-0.15 [+/-0.006] 9.0 [0.354] Optional Rear shaft JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 286 13.5 Physical Dimensions Only MIS43x 13.5.3 Physical dimensions MIS432 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 287: Life Time
Expected ball bearing life time V.S. distance Life time (hrs) Axial shaft load 40000 35000 30000 100N 25000 20000 15000 200N 10000 300N 5000 400N 500N Distance pilot surface (mm) TT2485-01GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 288: Trouble-Shooting Guide
13.7 Trouble-shooting guide JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 289: Connection To Other Equipment
Connection to other Equipment The SMC75 can be connected to other JVL products. These connections are described in the following chapter. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 290 TT2218GB The Controller SMC75 must be set to gear mode and the input and output for gear factor must be adjusted according to the actual application. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 291: Connecting Misxx/Smc75 To Smd73
SMD73 with PNP inputs O1 (pulse) Motor 1 O2 (direction) O3 (pulse) Motor 2 O4 (direction) O5 (pulse) Motor 3 O6 (direction) O7 (pulse) Motor 4 O8 (direction) JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 292: Connecting Misxx/Smc75 To Smd41
The MISxx/SMC75 can control an external driver with pulse and direction signals for pre- cise positioning and speed control. MISxx or SMC75 SMD41xx or SMD42xx O1 (Pulse) I8 (Direction) O2 (Direction) I9 (Step clock) I10 (GND) JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 293: Connecting Misxx/Smc75 To Mac00-Bx
The stepper motor MIS23x and Controller SMC75 can also be connected with the MAC00-B1, MAC00-B2 and MAC00B4 Expansion Modules. See the MAC motor manual chapter 4.2.10 for further information. 2.7kOhm MAC00-Bx Dipswitch 2.7kOhm MIS23x or SMC75 TT2243GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 294: Connection To Plc/Pc Boards
14.5 Connection to PLC/PC Boards JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 295: Accessories
Accessories The following accessories are available for the MIS motor series. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 296: Cables
15.1 Cables JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 297: Power Supplies
15.2.3 Other power supplies JVL offers a wide range of power supplies in the power range 45W to 1.5kW with output voltages 24 and 48VDC. They all uses switch-mode technology in order to minimize physical dimensions and for easy adaptation to mains voltages in the range 90 to 240VAC.
Page 298: Brakes And Shaft Reinforcement
MIS231 and MIS232 motors and require 24VDC applied to release the motor See also the data-sheet LD0055-xx which can be downloaded from www.jvl.dk. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 299: Gear And Brake Mounting Instruction
Its recommended to use Locktite 278 in the threats to make sure that the bolts stay in place. Do NOT tighten the shaft collar Flange bolts properly mounted before the flange bolts are tightend and tightend. TT1536-01GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 300 Torque (F1) (Ø6.35 shaft) MAB23x MAC050 to MAC141 Hex size 2.5 MAB23x MIS230-233 (Ø6.35 shaft) Hex size 2.5 (Ø9.53 shaft) MAB34x MIS340-341 Hex size 3 TT1537-01GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 301: Appendix
Appendix JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 302: Mis23X & Smc75 Registers Detailed
P_IST 32bit )-(2 Steps The actual position. This value Actual position can be changed at any time. V_IST 16bit 0-1023 The current velocity. Actual velocity TT2441-01GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 303 In Physical Position Bit 3: At veloctiy Bit 4: In position Bit 5: Accelerating Bit 6: Decelerating Bit 7: Zero search done Bit 8-15: Reserved TT2443-01GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 304 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 has been TT2445-01GB above 80°C JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 305 Filter Setup the current value of the screen. ConfMin/Max, MaxSlope and Filter registers. Bit 15: Set when values have been copied and TT2447-01GB used. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 306 16bit 0-32676 Number of milliseconds to wait Settling time after an AutoCorrection between retries attempt before testing for the position being withing the target window. TT2449-01GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 307 Bit 5: Synchronize to encoder after synchronize passive IOSETUP 16bit Special Bit 0-7 sets the I/O active level. Bit 8-15 Inputs/Outputs enables the I/O as an output. TT2451-01GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 308 FBU_Input 16bit 0-12 Flash Backup system, Seelcts which analog input to use to measure FBU voltages. Reserved 16bit TT2453-01GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 309 Minor + 16384 NOTSAVED 16bit 0-65535 This register is not used internally, but will always be 0 after poweron. Please notice TT2455-01GB that MacTalk uses this register. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 310 This register is updated with the External encoder ENCODER_ 16ms velocity of the external encoder Velocity input. The velocity is measured every 16ms. Reserved 16bit TT2457-01GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 311 NOTE Register 224 through 255 are currently used to hold the configurations for analog input filtering of IO1-8. These data should be accessed indirectly via the AFZUP_xxx registers, because registers 224-255 may be moved to another locaion in future firmware versions. Reserved TT2459-01GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 312: Mis34/43/Smc85 Registers Detailed
The divider of the gear factor Input ENCODER_ 32bit )-(2 Steps If the encoder option is installed, Encoder position this show the position feedback from the encoder. Reserved TT2401-01GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 313 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 10-15: Reserved TT2403-01GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 314 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 TT2405-01GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 315 Filter Setup current value of the screen. ConfMin/Max, MaxSlope and Filter registers. Bit 15: Set when values have been copied and used. TT2407-01GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 316 SSI Encoder setup Bit 0-7: Prepare time Bit 8: Gray to bin conversion SAMPLE1-4 32bit Select what register(s) to sample – part of the sample/scope function. TT2409-01GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 317 Bit 17: Disable Error on Travel limit IOSETUP 32bit Special Bit 0-7 sets the I/O active level. Inputs/Outputs Bit 8-15 enables the I/O as an output. TT2411-01GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 318 )-(2 Counts Used with FastMac commands 23 and 24 for changing both the actual and requested position in one operation either absolute or relative. Reserved TT2413-01GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 319 _VER Minor NOTSAVED 32bit 0-65535 This register is not used internally, but will always be 0 after power-on. Please notice that MacTalk uses this register. TT2415-01GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 320 32bit )-(2 Counts/16 This register is updated with the External encoder ENCODER_ velocity of the external encoder Velocity input. The velocity is measured every 16ms. TT2417-01GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 321 60000 ms. Else the value in this timeout register is used. BW_COMP 32bit If 1 (HIGH): Bit 0: FastMac24 will not clear the follow error. Bit 1-31: Not used TT2419-01GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 322: Velocity Accuracy
Velocity accuracy - only MIS34x/43x The velocity can be set in steps of 0.01 RPM and the accuracy of the velocity is better than 200 ppm (quartz controlled) JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 323: Command Timing
Conditional jump (register) Save position Set position Send fastMAC command Binary command 1) The time for all move commands is shown without waiting for in position JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 324: More About Program Timing
Note: In applications where program timing is critical, tests must be performed to ensure that timing is satisfactory when communication is running according to conditions used in production! JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 325: Motor Connections
Type HY200-1xxx-xxxxx6 Type : SMxxx.x.xx.x (4 terminals) ( Motor in unipolar model - 6 wires ) White Black White/ Green Green Green Black White/ White TT0005 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 326 Violet White Green Connection of Vexta stepmotor Type : PH2xx-xxx Black Black / White Orange / White Orange Red / White Yellow / White Yellow TT0006 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 327: Serial Communication
The length will always be 4 E8h,17h, 03h,FCh, <Data> 00h, FFh, 00h,FFh The data read from the register (Data = 1000) <End> AAh, AAh Command termination JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 328 07h,F8h (Address 7) The address of the SMC75 <End> AAh, AAh Command termination <Accept> 11h, 11h,11h Accept from SMC75 16.7 Serial communication 16.7.6 Exit safe mode JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 329 None Block description Block Name Protected Example Description <Reset> 57h,57h,57h Reset command <Address> 07h,F8h (Address 7) The address of the SMC75 <End> AAh, AAh Command termination JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 330 The command number is placed in the first command data byte. Data 1 + Data 2 are placed in the following command data bytes. Controller sends SMC75 Response <PStat><Address><Len1><Data1><End> <PStat><MAddress><Len2><Data2><End> JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 331 Program execution is being prepared. After this is completed the state will change Starting Program to running. Flash Error The program data is corrupted. Flash Checksum Error The program data checksum is incorrect. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 332: Mis Ordering Information
# : End of number. No more letters or number should be added. Note 1: For orders less than 10 pcs., use controller SMC75 instead, allowing current and gear ratio to be freely programmed. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 333: Smc75/85 Ordering Information
Stepper motor controller in a box with connector M6 and Canopen and H2 magnetic sensor 75 A 1 AA Stepper motor controller on ly PCB without Canopn, without enc chi, with special Molex connector JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 334: Mst Motor Ordering Information
Toothwheel gear Wormgear 5.18 udveksling 232 A AA 2.0 PA 5.18 Examples Husk mellem rum hvis ikke brugt 176 A AA 3.0 Stepmotor NEMA23 with housing. JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 335 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 336: Declarations
Declarations JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 337: Ce Declaration Of Conformity
EN 61800-3 Adjustable speed electrical power drives systems - part 3: EMC product standard including specific test methods.. Maj 2013 Bo V. Jessen Technical Director JVL Industri Elektronik A/S LX0020-02GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 338 EN 61800-3 Adjustable speed electrical power drives systems - Part 3: EMC product standard including specific test methods May 2012 Bo V. Jessen Technical Director JVL Industri Elektronik A/S LX0023-01GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 339: Vibrationtest Certificate Mis23X
17.2 Vibrationtest certificate MIS23x TT2498-01GB JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 340: Vibrationtest Certificates Mis34X
17.3 Vibrationtest certificates MIS34x JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 341 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 342: Index
17.4 Index JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 343 DS-301 device profiles 241 End-of-travel inputs Node id and baud rate 215 Enter safe mode Err_Bits CanOpen 24, 123, 158 114, 149 Error acceleration CANopen network JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 344 Modes of operation 10, 89, 190, 238 In physical position output Gear mode 93 In position output Passive mode 90 Index_Offset 132, 167 Positioning mode 92 Indexer SMI30 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 345 In pyhsical position 27 PulseDirMask 130, 165 Pulse/Direction 28 PulseDirMod 130, 165 SMC75 special outputs 27 SMC75 user outputs 23 Quick start QuickStep motors P- terminal JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 346 Reset motor Input_Filter_Cnt 137, 171 Reset position Input_Filter_Mask 137, 171 Resistors, termination Inputs 121, 156 Resonances Iosetup 121, 134, 156, 168 RS232/RS485 Max_P_Ist 123, 158 RS485 interface JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
Page 347 Step pulse and direction inputs Step pulse inputs SYNC (Synchronisation Object) Technical Data 266, 268, 271 Temp 122, 157 Temperature protection Termination 214, 216 Termination resistors JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...

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Mis34 series Mis234 Mis340 Mis43 series Mis231 Mis341 ... Show all

JVL MIS23 Series User Manual

1 Introduction

2 Hardware - Intelligent Products

3 Hardware Non-Intelligent Products

4 Using Mactalk

5 Description of Functions

6 Modes

7 Error Handling

8 Registers

9 Building Sequential Programs

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Summary of Contents for JVL MIS23 Series

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