Rotary Table Option - JVL MAC050 User Manual

2.14
2.14.1 General description
The Rotary table option, also sometimes called Dividing head, Indexing table or turntable
option, makes the motor work in three different ways that limits the actual position and
target position to a smaller position range than normal. This is useful for supporting some
mechanical systems.
One of the strong features of this is the motor's ability to calculate the shortest move-
ment to a new target position automatically.
The option can also be used to have the motor always move in the same direction for
any target position value even if the new target position value is below the old position
in this case the motor will turn in the configured CW or CCW direction until it returns
to the lower target position.
The actual position will not overflow even when always running in the same position for
any length of time.
The general idea is to define a range of positions by a Minimum and a Maximum value
that can be freely selected within the normal position range of the motor (-67 million
count to + 67 million counts). Whenever the actual position exceeds the maximum it will
wrap around and continue from the minimum position while still running in the same di-
rection.
Also when moving below the minimum position it will wrap around and continue to
count down from the maximum position.
During operation the motors main operation mode is usually set to Position mode
(MODE_REG = 2), and the motor is commanded to a new target position by writing a
new value to the Target Position, register 3, P_SOLL. See also
mode, page 76
The value written to P_SOLL should be within the rotary table position range. If the value
is outside the working range specified by "Turn table pos. min." or "Turn table pos. max"
it will be clipped to be within the values specified by "Turn table pos. min." or "Turn table
pos. max". To make a full turn in CW or CCW mode, a multiturn operation is supported
see following illustration. The registers normally used for software position limits are
used to define the rotary table working range in rotary table operation.
JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500

Rotary table option

- Modes other than Position
71