JVL MAC050 User Manual page 78

2.14
2.14.3 Configuration via motor registers.
When the configuration is done by channels other than MacTalk such as Ethernet, Profi-
bus, CAN-open etc. or just a simple interface connection to the basic motor the follow-
ing description must be followed.
The main rotary table operation is selected by bits 24 and 25 in Register 39, HW_SETUP.
An addition the option to support multiturn rotary table operation is selected by bit 26 in
Register 39, HW_SETUP.
Register 28, MIN_P_IST
Holds the minimum position for the rotary table working range.
Register 30, MAX_P_IST
Holds the maximum position for the rotary table working range.
Note that the firmware will swap the min. and max. values if the minimum is larger
than the maximum at start-up.
Register 39, HW_SETUP
Bits 24, 25 and 26 only. The value of bits 25 and 24 define the rotary table options:
Bit 26
Bit 26 in register 39, HW_SETUP, select the multiturn operation. This bit is used only
with the CW and CCW operations and allows complete turns to end at the same me-
chanical position as it started from by specifying a target position, P_SOLL, that lies out-
side the rotary table position range. For instance, if the working range is 0 - 7999 (a range
of 800 valid positions, one full motor shaft revolution on the MAC800/1200) and the cur-
rent target position is at 3000 writing 11000 (3000 + 8000) will make the motor perform
exactly one full turn and leave both P_SOLL and P_IST_TURNTABLE at 300 afterwards.
In general, P_SOLL will be modified to be within the valid rotary table position working
range if a value outside this range is written to P_SOLL.
Important: Please remember to save the setup in permanent memory (Save in Motor)
before the setup is applied and used by the motor.
74
Rotary table option
Bit 25 Bit 24
0 0 0
0 0 1
0 1 0
0 1 1
1 0 0
1 0 1
1 1 0
1 1 1
JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
Operation selected
No Rotary table operation (normal motor operation
with full position range)
Always CW rotary table operation.
Always CCW rotary table operation.
Shortest path rotary table operation.
Illegal setting.
Always CW rotary table operation
with multiturn operation.
Always CCW rotary table operation
with multiturn operation.
Illegal setting.