JVL MAC050 User Manual page 264

5.7 Expansion Module MAC00-FD4
5.7.20 Example - How to implement with a Omron PLC:
How to implement a JOG function using Omron PLC system.
This example sets the motor into velocity mode and sets a velocity depending on which
direction to go and returns in Position mode when the jogging is finished.
Notice that Omron uses the syntax #1234 indicating a hexadecimal number in contrast
to elsewhere in this chapter where the syntax 0x1234 is used for indicating a hexadecimal
number.
1. Start by setting the velocity to 0, to prevent the motor from moving anywhere when
the mode is set to "velocity".
Please observe that all values are 16bit and refers to the cyclic IO of 8 bytes each way.
Please find the section covering IO-messages.
Basically this example uses the Register message type and accesses the registers rel-
evant for this operation. That is P_SOLL, V_SOLL and the mode register.
Word 0: #0381:Set the bits in the structure and get register 3=P_IST actual position
Word 1: #053F;Register 5, V_SOLL, use command message = 31 + 32
Word 2: #0000;Value=0
Word 3: #0000;Value=0
2. Next step is to set the motor into velocity mode by writing register 2 = 1:
Word 0: #0381; Set the bits in the structure and get register 3=P_IST actual position
Word 1: #023F; Register 2, MODE, use command message = 31 + 32
Word 2: #0001; Value=1, velocity mode
Word 3: #0000; Value=0
3. Now we set the velocity depending on which direction we want to use, we set either
positive or negative value, we will set register 5, V_SOLL for this purpose.
Word 0: #0381; Set the bits in the structure and get register 3=P_IST actual position
Word 1: #053F; Register 5, MODE, use command message = 31 + 32
Word 2: #07D0; Value=2000, velocity mode approx. 957 RPM (scaling: 2.1 x RPM)
Word 3: #0000; -
4. Now the motor runs CW looking on the shaft.
If we want to go the other way we send:
Word 0: #0381; Set the bits in the structure and get register 3=P_IST actual position
Word 1: #053F; Register 5, MODE, use command message = 31 + 32
Word 2: #F830; Value=-2000, velocity mode approx. -957 RPM (scaling: 2.1 x RPM)
Word 3: #FFFF; -
5. If a motor stop is desired now there is several ways, one way is to set velocity = 0:
Word 0: #0381; Set the bits in the structure and get register 3=P_IST actual position
Word 1: #053F; Register 2, MODE, use command message = 31 + 32
Word 2: #0000; Value=0
Word 3: #0000; -
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260 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500