JVL MAC050 User Manual page 262

5.7 Expansion Module MAC00-FD4
Performing the JOG function in velocity only requires that the velocity register (V_SOLL
- register 5) is used.
A way of implementing "JOG" -functionality is basically to change actual mode to "Veloc-
ity" and control the velocity and acceleration.
The following guideline can be used.
1. Set velocity = 0 (register 5), to avoid immediate movement when the mode is
changed to velocity.
2. Change the mode to Velocity mode (register 2 = 1), now the mode is changed but
the velocity is set to 0 so the motor stay stationary.
3. According to the direction, change the velocity to a positive value to run CW or neg-
ative to run CCW. Please remember that this value is scaled depending on the motor
type used. The value is written into the velocity register (register 5 / V_SOLL)
MAC50-140 the scaling is [RPM] x 2.097, so 1000 RPM = 2097 [counts/smpl.]
MAC400/402 the scaling is [RPM] x 2.837, so 1000 RPM = 2837 [counts/smpl.]
MAC800 the scaling is [RPM] x 2.771, so 1000 RPM = 2771 [counts/smpl.]
MAC1500 the scaling is [RPM] x 2.837, so 1000 RPM = 2837 [counts/smpl.]
MAC3000 the scaling is [RPM] x 2.837, so 1000 RPM = 2837 [counts/smpl.]
4. To stop the motor set the velocity to 0. This will force the motor to decelerate and
stay stationary keeping the actual position obtained after running with a velocity > 0.
Optional:
If the motor needs to be switched into a position related mode the actual position coun-
ter and some other position related registers need to be modified or reset.
Otherwise the motor will return to the original motor position which was present before
the JOG function was executed.
A simple way of doing this, is to send the special command 247 to the "Special command"
-register, register number 211.
258 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500