JVL MAC050 User Manual page 79

2.14
2.14.4 Status read out via MacTalk.
When status read out is done via the MacTalk program data is presented as follows:
2.14.5 Status read out via motor registers.
When status read out is done by channels other than MacTalk such as Ethernet, Profibus,
CAN-open etc. or just a simple interface connection to the basic motor the following de-
scription must be followed.
Register 25, P_IST_TURNTABLE
Holds the actual position within the rotary table working range.
Register 27, TURNTAB_COUNT
Is a counter that keeps track of wrap-arounds since the last reset of the motor. This
register can be written to another value by the user at any time.
Register 10, P_IST
Is still the 'real' actual position 'inside' the motor but should generally not be used in
rotary table operation. P_IST will be modified by the firmware as a result of writes
to P_SOLL.
2.14.6 Rotary table notes
- Start up positions.
Normally the motors will start up with a zero value in P_IST and P_SOLL when using a
standard encoder or with the position read from an absolute encoder (possibly offset by
the P_OFFSET register).
In case the rotary table position range does not include the start up value, the start up
value is modified by adding or subtracting N times the number of valid position in the ro-
tary table position range until it is inside this range.
JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
Rotary table option
"Actual position"
is indicating the position
and stays within the
min. and max. limits
defined.
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