JVL MAC050 User Manual page 446

6.12
Reg. Firmware / MacRegIo MacTalk
Nr. Name Name
236 SETUP_BITS
N/A
(continued)
237 STATUS_BITS
N/A
238 Reserved
239 Reserved
240
241
242 ERR_INFO
N/A
442
Registers
Range/ Size / Unit Description
Default Access
0 Word/ Bit 20: ZUP_CLEAR_MODECHANGE.
RW When this bit is set, any data in the velocity filters is zeroed during a switch
between two active modes, like when going from Position mode into
Velocity mode. This can be used as a special case quick anti-windup
mechanism, but it is not recommended in most applications.
Bit 21: ZUP_BRAKE_IN_PASSIVE
Enable braking of the motor shaft in Passive mode instead of fully releasing
the shaft. This is done by a soft short-circuiting of the motor windings. This
will result in braking energy being returned to the DC bus, causing
increasing voltage.
Bit 22: ZUP_PDTYPE_68OHM: this is to explicitly override the type of built-
in brake resistor.
Bit 23: ZUP_PDTYPE_150OHM: this is to explicitly override the type of
built-in brake resistor.
Bit 24: ZUP_AUTO_START_MODE: Selects to switch mode to the value in
the START_MODE register when AC supply or STO inputs come back after
begin absent.
Bit 25: ZUP_DELAYED_AC_OK: makes the motor start in the mode
selected in the START_MODE register also in the start up case where
+24Vdc control voltage is present before AC supply is present. If this bit is
not set, the motor will stay in Passive mode in this condition.
Bit 26: Selects VelAccHiRes mode. In this mode, the scaling and accuracy
of both Velocity and Acceleration setpoints V_SOLL and A_SOLL is 64
times higher than normal. This allows a more accurate setting of target
velocity, especially useful at low speeds, like 20 RPM. It provides a
resolution of better than 0.01 RPM per count. The Acceleration can also be
made much more smoothly.
Please request a separate document from JVL if you need tables of RPM or
RPM/S per count for the different sample times and encoder resolutions.
Bits 27 through 31: Reserved – must be written as zero.:
0 Word/ Bits to indicate internal status, not otherwise visible:
RO Bit 0: SB_IN_SYNC: The Ethernet option Synchronized Clock is working
and has synchronized.
Bit 1: The microcontroller has been detected to have large enough flash to
enable saving eRxP, Scaling values, switchboard setup, and the position
flash backup system.
Bit 2: Modbus has been actually enabled on the serial channel normally
used for MacTalk.
Bit 3: Motor received the command to enable synchronized clock.
Bit 4: The ePLC/eRxP password lock is active because of mismatch
between user and program passwords). This means the program cannot be
read from the motor until the correct password is given. It is still possible to
send a new program to the motor.
Bit 5: When using the Industrial Ethernet protocols with a SYNC0 signal,
this bit indicates which of two sample points is used.
Bit 6: ON Status of the brake resistor. Useful for high-resolution
scope/sampling.
Bits 7-31: Reserved for later use.
Not used at this time.
Not used at this time.
NOTE that registers 240 through 255 CANNOT be used with the MAC00-
FD (DeviceNet) module.
Counter of Modbus framing and parity errors – may be useful to debug
Modbus communications problems.
Counter of Modbus CRC errors – may be useful to debug Modbus
communications problems.
0 Word/ NOTE: This is intended only for JVL technicians.
RW Additional information on the type of the last error. Some bits in register 35,
ERR_STAT, can have multiple causes; this register helps to pinpoint the
exact cause. Values supported in FW v2.12:
0=No information.
1=PWM values written too late.
2=Overspeed measured over the last 100/200 us.
3=Encoder count too large, probably electrical noise or encoder hardware
error.
4=Overspeed measured over the last 1.0/1.3 ms.
5=Measured current in phase A was too high.
6=Measured current in phase B was too high.
7=Measured current in phase C was too high.
8=Current filter output clipped for too long.
9=Encoder Index error detected too many times in a row.
10=Analog input hardware error during power up, most likely the +5.0V
reference voltage is missing.
11=Presence of the internal 125kHz signal does not match the factory
flashed hardware version.
12=The encoder velocity detected during early startup was above
approximately 35 RPM. This will set an INIT_ERROR, because the
commutation angle is unsafe.
13=Encoder index error detected in inner lop tail.
14=(index error special tor MAC80x)
15=DMA area too large at startup.
16+: reserved for future use.
NOTE: Max current limits are different between motor types. Also, the trip
limits for phases A and B may not always match the limit for phase C.
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