JVL MAC050 User Manual page 22

2.2
Profile data
Error Handling Worst case limits for the position range and follow error (maximum
Motor Status
Inputs
Homing
18
Gear Mode
In gear mode, motor movement is fundamentally controlled from the
external signal source, but via the 4 parameters specified in "Profile da-
ta" field it is possible to add limitations to speed, etc.
Velocity
The velocity field can be used to limit the maximum speed of the mo-
tor. Example - if an external encoder is producing a frequency which
theoretically should give a MAC motor speed of 10000 RPM, the speed
can be limited to 4000 RPM (max. allowed speed for the MAC). The
motor will be unstable and go in error within some time since it is not
able to run at 10000 RPM. Note that no pulses are lost if the velocity
is limited. They are simply remembered and used when the input fre-
quency falls to a level at which the motor is able to follow.
Acceleration
The acceleration parameter can be useful in systems in which the signal
source instantaneously applies a high frequency without any accelera-
tion. Under this condition, the MAC motor will take care of making a
controlled acceleration and deceleration. Note that no pulses are lost
if the acceleration is limited. They are simply remembered and used
when motor velocity reaches a level corresponding to the input fre-
quency.
Torque
The maximum torque can be limited in the range 0-300%. 300% cor-
responds to the rated peak torque of the MAC motor used.
Load
The Load parameter is the overall gain in the position/velocity filter and
ensures that the motor is stable with the actual mechanical inertia used
in the application. See also the filter setup chapter for further details.
position error) can be set up here. Please consult the Error Handling
chapter for details.
The actual mode, speed, position, position error, load torque, load
current, regenerative energy (energy returned from the motor) can be
monitored here.
The supply voltage can be measured here.
In typical gear mode applications the motor is moving relatively with-
out any absolute zero point, but for applications that require a specific
mechanical zero position, the general Homing in the MAC motor can
be used. Please consult the chapter
JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
Mechanical Homing, page 28.