JVL MAC050 User Manual page 424

6.12
Reg. Firmware / MacTalk
Nr. MacRegIo Name
Name
33 INPOSWIN
(not
present)
34 INPOSCNT
(not
present)
35 ERR_STAT
(not
present)
420
Registers
Size / Unit
Access
Na / Word / Encoder
100 RW counts
Na / Word / -
3 RW
Na / Word / -
0 RW
JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
Description
The value of this parameter depends on the operating mode. In all
cases it helps to define when the motor is InPosition and thus will set
the InPosition bit in the ERR_STAT register.
For normal Position related modes, the motor is considered to be in
position when the actual position is less than INPOSWIN encoder
counts away from its target position P_SOLL and have been detected to
be so at least INPOSCNT times.
For Velocity related modes, the concept of InPosition will instead mean
AtVelocity and work in a similar way that the actual velocity V_IST must
have been measured INPOSCNT consecutive times to be within
INPOSWIN counts/sample before the InPosition bit is set in Reg35,
ERR_STAT.
The number of consecutive times the In Position condition must have
been met before the InPosition bit is set in ERR_STAT. See description
above for INPOSWIN.
Bit 0, I2T_ERR
Set when the calculated thermal energy stored in the physical motor exceeds a
limit. Condition is that Reg16, I2T gets larger than Reg17, I2TLIM.
Bit 1, FLW_ERR
Set if the follow error in Reg20, FLWERR, gets larger than Reg22,
FLWERRMAX. Never set if Reg22, FLWERRMAX is zero.
Bit 2, FNC_ERR
Set if the function error in Reg24, FNCERR, get slarger than Reg26,
FNCERRMAX. Never set if Reg26, FNCERRMAX is zero.
Bit 3, UIT_ERR
Set when the calculated energy/temperature in the internal brake resistor (power
dump) get dangerousl high.
Bit 4, IN_POS
In Position mode, status of when/whether the motor position is inside the
inposition window defined by RegReg33, INPOSWIN, for the number of samples
defined in Reg34, INPOSCNT. In Velocity mode, this bit means rather 'At
Velocity'. For other modes, like Torque modes, see the technical manual for
details of how the inposition status is calculated/maintained.
Bit 5, ACC_FLAG
Set when the motor is accelerating, which means that the velocity changes from
a higher value to a lower value over tah latest samples. Please note that, when
the velocity is negative, this flag is set when the velocity changes from a more
negative value to a less negative value (closer to zero). This may not be intuitive,
but can be said to be mathematically correct, and is maintained for backwards
compatibility reasons.
Bit 6, DEC_FLAG
Set when the motor is decelerating. Please see the description for ACC_FLAG
above to understand the behaviour with negative velocity.
Bit 7 PLIM_ERR
Set when one of the software position limits in Reg28 and Reg30 have been
exceeded. Note that there is an option to temporarily disable position limits to be
able to be move inside the position limit range again.
Only MAC400 to 4500
TT1533-02GB