JVL MAC050 User Manual page 218

5.6 Expansion Mod. MAC00-FC2/FC4/FC41
Name
Profile velocity mode
Velocity_sensor_actual_value
Velocity_demand_value
Velocity_actual_value
Velocity_window
Velocity_window_time
Target_velocity
Max_torque
Homing mode
Home_offset
Homing_method
Homing_speeds_number_
of_entries
Horming_speeds_Speeds_
during_search_for_switch
Horming_speeds_Speeds_
during_search_for_zero
Homing_acceleration
Factors
Position_notation_index
Postion_dimension_index
Velocity_notation_index
Velocity_dimension_index
Accelleration_Notation_index
Accelleration_dimension_index
Position_encoder_resolution_
number_of_entries
Position_encoder_resolution_
Encoder_increment
Position_encoder_resolution_
Motor_revolution
Velocity_encoder_resolution_
number_of_entries
Velocity_encoder_resolution_
encoder_increments_per_second
Velocity_encoder_resolution_
motor_resolution_s_per_second
Gear_ratio_number_of_entries
Gear_ratio_Motor_revolutions
Gear_ratio_Shaft_revolutions
Feed_constant_number_
of_entries
Feed_constant_Feed
Feed_constant_
Shaft_revolutions
Position_factor_number_
of_entries
Position_factor_Numerator
Position_factor_Feed_constant
214
COB Sub-
ID in-
Desc (hex) dex
6069h 0
N/U 606Bh 0
606Ch 0
606Dh 0
606Eh 0
60FFh 0
6072h 0
607Ch 0
6098h 0
RO 6099h 0
6099h 1
6099h 2
609Ah 0
N/U 6089h 0
N/U 608Ah 0
N/U 608Bh 0
N/U 608Ch 0
N/U 608Dh 0
N/U 608Eh 0
RO 608Fh 0
608Fh 1
608Fh 2
RO 6090h 0
N/U 6090h 1
N/U 6090h 2
RO 6091h 0
6091h 1
6091h 2
RO 6092h 0
N/U 6092h 1
6092h 2
RO 6093h 0
N/U 6093h 1
6093h 2
JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
Motor Initial
register Value
V_IST
V_IST
Z1 100
INPOSCNT 6
V1 50
T1 and
1000
TSOLL
P_HOME
2
V1 50
V2 50
ASOLL 5000
0
0xAC
0
0xA4
0
0
2
4096 or
8000
1
2
4096 or
8000
1
2
2
4096 or
8000
1
2
1
Scalefactor to Update/
motor write
BusyRead
(Copied from target
velocity on updated)
1/(Velocity_factor*16) BusyRead
Velocity_factor/16 Imm
SampleFreq/1000 Imm
Velocity_factor or
Imm + Start-
Velocity_factor de-
Velocity mode
pending on polarity
1.023 Imm
During homing
See
Factors, page
216
See homing
decription.
+/- Velocity_factor At homing
Velocity_factor At homing
Acceleration_factor At homing
Not CF_Upd,
>Position_factor
CF_Upd,
>Position_factor
CF Upd,>
Position_factor
CF Upd,>
Position_factor
See formula
tors, page 216
In CF_Upd
CF Upd,
>Position_factor
>Feed_constant
>PFactorNumerator
See formula
tors, page 216
In CF_Upd
See formula
tors, page 216
Fac-
Fac-
Fac-