JVL MAC050 User Manual page 433

6.12
Reg. Firmware / MacTalk
Nr. MacRegIo Name
Name
93
(not
present)
JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
Registers
Size / Description
Access
Na / Word / - Each of the HWI0-11 registers have the following bit fields:
0 RW Bits [31:24]: Destination register used (only) when bits [3:0] equals 7.
Bits [23:16]: Source register number 0..254 for DI=1
Bits [15:8]: Source register number 0..254 for DI=0
Bits [7:4]: Select digital input bit number in Reg106.
Bits [3:0]: Target register selection. 0=None, 1=MODE_REG, 2=V_SOLL,
3=P_SOLL, 4=A_SOLL, 5=T_SOLL, 6=INPOSWIN, 7=Register number from bits
[31:24].
When the value of bits [3:0] are one of 1..6, the two source registers are
implicitly fixed to the corresponding group of register, and the value of bits
[23:16] and bits [15:8] are used as an index into that group of registers. For
instance if bits [3:0] equals 3, the values of bits [23:16] and bits [15:8] must be in
the range 1..8 to select POS1 ..POS8 for source registers to copy into P_SOLL.
When the value of bits [3:0] equals 7, the values of bits [23:16] and [15:8] hold
the full register numbers in the range 1-254.
For more advanced use, any of the source register or index values can be set to
zero, which means DoNothing. This effectively means that in one of the Input
States a source register will be copied to the target register, while in the other
Input State no copying will happen so the target register will not be modified by
the digital input.
The 12 HWI functions are executed every 1.3 ms in the order from HWI0 to
HWI11. NO other operations happen in between regardless of communications
and other parallel operations. It is therefore safe to rely on stable register values
and consistent digital input values during the execution of the 12 HWI functions.
This implies that HWI function with higher numbers have higher priority because
they are executed later, and that it is safe to change the same target register
several times during the HWI evaluation.
Note that each of the HWI function can use any of the digital inputs, and that
more than one HWI function can use the same digital input.
A typical HWI application is Jogging, where two pushbuttons connected to two
separate digital inputs are used to move the motor position manually. This can
be realized with a HWI setup like:
HWI0 uses Digital Input 1:
ON => MODE_REG=1 (velocity mode)
OFF => MODE_REG=3 (gear mode)
HWI1 also uses Digital Input 1:
ON => V_SOLL=+100RPM
OFF => V_SOLL = 3000 RPM
HWI2 uses Digital Input 2:
ON => MODE_REG=1 (velocity mode)
OFF => MODE_REG=3 (gear mode)
HWI3 also uses Digital Input 2:
ON => V_SOLL=-100RPM
OFF => V_SOLL = 3000 RPM
This will keep the motor in Gear mode with a maximum velocity of 3000 RM
when none of the pushbuttons are activated, and change to Velocity mode wit
either +100 or -100 RPM as long as one of the pushbuttons are held active. In
this setup Digital Input 2 will have higher priority than Digital Input 1, because it
is evaluated later and overwrites V_SOLL in case both buttons are held down.
Only MAC400 to 4500
T1511-02GB
429