JVL MAC050 User Manual page 412

6.12
Reg. Firmware /
Nr. MacRegIo Name
5 V_SOLL
6 A_SOLL
7 T_SOLL
8 P_FNC, 32-bit
(Sometimes named
P_SIM)
9 (high word of
P_FNC/P_SIM)
10 P_IST, 32 -bit
11 (high word of P_IST)
12 V_IST
13 KVOUT
14 GEARF1
15 GEARF2
16 I2T
17 I2TLIM
18 UIT
19 UITLIM
20 FLWERR, 32-bit
21 (high word of
FLWERR)
22 FLWERRMAX, 32-bit
23 (high word of
FLWERRMAX)
24 FNCERR, 32-bit
408
MacTalk Range /
Name Default
Max. Velocity
Acceleration
Torque 0-1023
Actual position
- -
Load factor
JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
Registers
Size / Unit Description
Access
The maximum velocity the motor is allowed to
use.
Counts/ The maximum acceleration in counts/sample
Sample the drive is allowed to use during normal
operation. Also note Reg32, ACC_EMERG,
used during emergency stops.
- The maximum torque that the drive is allowed to
use.
The value 1023 corresponds to 300% of
nominal load, and is the absolute maximum
peak torque allowed. The value 341 gives 100%
(nominal load).
Counts
The actual motor position measured by the
internal encoder. Updated every 1.9ms. Note
that this register is maintained incrementally,
which means that the user can update it to
offset the working range. When updating when
the drive is not in Passive mode, P_IST and
P_SOLL should be updated together in an
atomic operation, using Reg163, P_NEW, or
other special measures. Also note that the
firmware will change this register after a zero
search operation has completed.
-
Actual velocity of the drive.
Ratio of the total inertia driven by the drive to
the inertia of the motors rotor itself.
Gear factor 1, Nominator
Gear factor 2, Denominator
Energy dissipated in the motor windings.
Safety limit for I2T above. Motor will set an error
bit if I2T gets above I2TLIMIT.
Energy dissipated in the internal power dump.
Limit for Reg18, UIT. Motor will set an error bit if
UIT gets above UITLIM
A measure of how far the drive is from its ideal
regulation goal. This value is calculated
differently in the various modes, and can mean
things like pulses from theoretical position or
difference in actual velo city to V_SOLL.
Contact JVL for more detailed information for
specific modes.
When Reg20, FLWERR, exceeds this limit, an
error bit is set in Reg35, ERR_STAT, and the
motor will stop if Reg22 is non-zero. Usually this
value is set experimentally to detect situations
where a movement is blocked or fails.
Shows how much the motor is behind the ideal
movement; precise operation depends on
mode. When this accumulated value exceeds
Reg26, FNCERRMAX, the FNC_ERR bit is set
in Reg35, ERR_STAT and the motor will stop.
Only MAC50 - 141
2
T T 1521GB