JVL MAC050 User Manual page 421

6.12
Reg. Firmware /
Nr. MacRegIo Name
3 P_SOLL
4 P_NEW
5 V_SOLL
6 A_SOLL
7 T_SOLL
8 P_FNC or
P_FNC_LO
9 INDEX_OFFSET or
P_FNC_HI
10 P_IST
JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
Registers
MacTalk Range/
Name Default
Target ±2^31
position / 0 or
AbsEncoder
±2^31
(not present)
/ 0
Max Velocity Na /
277
(100RPM)
Acceleration Na /
18
(5003RPM/s²)
Torque 0-1023
/
1023
(300%)
(not present)
Actual ±2^31 /
Position 0
Size / Unit Description
Access
Word / Encoder The target position that the drive will attempt to reach in
RW counts position related modes.
Word / Encoder Used to update both P_IST and P_SOLL in a single
RW counts atomic operation to prevent motor movements during the
change.
P_NEW holds either an absolute position or a relative
position.
After writing a value to P_NEW, update both bits 8 and 6
in Reg36, CNTRL_BITS.
Bit 8, SYNCPOSREL, will select a relative position update
when set or an absolute update when cleared.
Setting bit 6, SYNCPOSMAN, executes the
P_IST+P_SOLL update, that is, either both are set equal
to P_NEW, or P_NEW is added to both, using signed
addition. P_FUNC is updated accordingly.
The undocumented FastMac commands 23 and 24 can
also be used to set these bits and perform the same
absolute and relative updates.
This is useful for expanding the logical position range
beyond +/- 2^26.
Word / Cnt's/ Desired velocity 1 RPM=2.77056 counts/sample for
RW sample encoder resolution of 8000 PPR or 1 RPM = 2.83989
counts/sample for encoder resolution of 8192 PPR.
Example: To obtain 100 RPM, V_SOLL must be set to 277
on a MAC800.
Word / Cnt's/ The desired nominal acceleration.
RW Sample² 1000 RPM/s = 3.6053333 counts/Sample² for encoders
with 8000 PPR, or 3.6918613 for encoders with 8192
PPR.
Example: To obtain 100000 RPM/s, A_SOLL must be set
to 361 or 369 dep. on encoder.
Word / - The maximum torque that the drive is allowed to use.
RW The value 1023 corresponds to 300% of nominal load, and
is the absolute maximum peak torque allowed. The value
341 gives 100% (nominal load).
Word / Encoder Used internally for relative movements. When one of the
RW counts P1...P8 registers are activated with a FastMac command
in relative positioning mode, this register is modified to
allow a movement without changing the P_SOLL register
and therefore avoid position range overflow.
When the VelAccHiRes option is selected, this register
must hold a 64-bit value. In this case Register 8 holds the
lowest 32 bits, and the next register, Register 9,
INDEX_OFFSET, holds the highest 32 bits.
Word / Encoder Updated after a Zero Search to show at what single-turn
RW counts encoder position the zero point was detected. This is used
by MacTalk on the Test tab to show if the zero search
resulted in a valid zero position.
When the VelAccHiRes option is selected, this register
holds the highest 32 bits of P_FNC. Please see register 8,
P_FNC_LO above.
Word / Encoder The actual motor position measured by the internal
RW counts encoder. Updated every 1.3ms (or every 2.6 ms with
Reg157, OUTLOPDIV=2) 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
Reg4, P_NEW, or other special measures. Also note that
the firmware will change this register after a zero search
operation has completed.
Only MAC400 to 4500
TT1502-03GB
417