JVL MAC050 User Manual page 448

6.12
Reg. Firmware / MacRegIo
Nr. Name
266 RXP_COMM_RES
267 RXP_COMM_ECNT
268 FLEX_REG
269 MODE_VIST_TQ
270 COMM_ALIVE_TIM
271 GIMP_RW_AREA
272 KVOUT_MIN_VEL
273 KVOUT_MAX_VEL
274 KVOUT_LO
275 KVOUT_SELECT
276 INDEX_OFFSET_
HIRES
277 G_FNC_HI
278 TASK_TIME
279 (reserved)
280 PWR_DMP_VOLTAGE
444
Registers
MacTalk Size /
Name Access
(not
present)
(not
present)
(not
present)
(not
present)
(not
present)
(not
present)
Word
(not
R/W
present)
Word
(not
present) R/W
Word
(not
present) R/W
Word
(not
present) R/W
Word
(not
R/O
present)
Word
(not
present) R/O
-
(not
present)
See Word/
(not
present) desc. R/W
JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
Description
- Result of the presently executing or latest executed communications
operation ordered from the eRxP system.
0=Idle – last operation completed successfully.
1=Busy – execution in progress, and hasn't yet timed out or used all
retries.
2= Failure – last operation could not be completed even after using
all retries.
# Error counter for eRxP communications operations. Increments by
one every time a timeout to a telegram is experienced, including
retries.
- This register can be configured so each bit is a copy of a bit in
another register. This is used by the Ethernet modules to transfer
more data in internal telegrams between motor and module. The
configuration of bits is done by a proprietary Modbus telegram sent to
the motor.
- This register contains three bit-fields to hold values of actual mode,
velocity and torque.
Bits 11-0: Actual torque (signed)
Bits 23-11: Actual Velocity (signed)
Bits 31:24: Mode register (unsigned, requested mode)
# Selects a timer and reload value to monitor timeouts on received
Modbus telegrams, intended mainly for eRxP commanded
communications.
One of the four general-purpose timers in the eRxP User Defined
Variables system will be reloaded with the reload value in the lower
bits in this register whenever a valid Modbus telegram is received.
The timers decrement by one count every 1.0 ms.
This can be used to detect timeouts and measure communications
delays and transmission times.
Bits 15-0: Timer reload count.
Bits 18-16: Timer number 1-4 or 0 to disable.
Bits 31-19: Reserved – must be written as zero.
- Selects memory area and byte offset for GIMPREAD and
GIMPWRITE telegrams on the MacTalk communications channel.
Bits 15-0: Byte offset into the memory area.
Bits 23-16: Memory area to work on:
0 = eRxP area (16 KB)
1= on-the-fly register scaling READ tables (4 KB)
2= on-the-fly register scaling WRITE tables (4 KB)
3 = Scope/Sampling buffer (32 KB)
4 = BaseData area (10 bytes)
- Velocity value for automatic load factor scaling –
range. The load factor will equal KVOUT_LO when Reg12, V_IST, is
at, or below , this value.
The high end of the velocity range is defined by register 273,
KVOUT_MAX_VEL , see below.
If in the mid range, do linear interpolation.
KVOUT = KVOUT_LO + 64 * ((VIST - VIST_LO) * ((KVOUT_HI -
KVOUT_LO) / 64) / (VIST_HI - VIST_LO))
- Velocity value for automatic load factor scaling –
range. The load factor will equal KVOUT_LO when Reg12, V_IST, is
at, or above , this value.
-
-
-
-
- Prepared for multi-tasking in the ePLC system.
~~~
Volt
Only MAC400 to 4500
low end of velocity
high end of velocity
TT15 57 -02GB