JVL MIS432 Manuals

Manuals and User Guides for JVL MIS432. We have 1 JVL MIS432 manual available for free PDF download: User Manual

JVL MIS432 User Manual

JVL MIS432 User Manual (348 pages)

Integrated Step Motors, QuickStep, Including Step Motor Controller SMC75, SMC85

Brand: JVL | Category: Engine | Size: 7.71 MB

Table of Contents

Table of Contents
3
1 Introduction

7
2 Hardware - Intelligent Products

13
3 Hardware Non-Intelligent Products

57
4 Using Mactalk

59
- Using the Mactalk Software
  60
  - Mactalk Introduction
    60
  - Toolbar Description
    61
  - Save in Flash
    61
  - Reset Position
    61
  - STOP Motor
    61
  - Saving or Opening a Setup File To/From Disc
    62
  - Register Screen
    65
  - Advanced Screen
    66
  - Test Screen
    66
  - Scope Function
    67
- How to Update Mactalk
  68
- How to Update the Motor Firmware
  69
- How to Update the Encoder Firmware
  70
5 Description of Functions

71
6 Modes

97
- Passive Mode
  98
- Velocity Mode
  99
- Positioning Mode
  100
- Gear Mode
  101
  - Only Mis23X/Smc75
    101
  - Signal Formats Supported
    102
  - Pulse and Direction Control
    102
  - Quadrature Control
    102
  - How to Connect the Pulse Source
    103
  - Single Ended Signals (Only Mis34X and Mis43X)
    103
  - General Considerations Concerning Cabling
    104
  - Signal Function and Timing
    105
  - Pulse and Direction Format - Timing and How to Connect
    106
  - Quadrature Format - Timing and How to Connect
    106
  - Principle of Gear Mode
    107
  - Velocity
    107
  - Acceleration
    107
  - Encoder (Quadrature) Input
    109
  - Pulse and Direction Input
    109
  - Pulse and Direction Gear Ratio Setup - “Commonly Used Ratios”
    109
  - Mechanical Zero Search Modes
    110
  - Starting a Zero Search
    110
  - The Zero Search Is Disabled
    110
  - Set up the I/O for Zero Search
    111
  - Advanced Settings
    111
  - Sensor Type 1 Zero Search
    112
  - “Sensor Type 2” Zero Search
    112
  - Making a Zero Point Offset
    113
  - Zero Search with Index Pulse (Only Misxxxh2Xx)
    114
7 Error Handling

115
- Follow Error
  115
- Position Limit Min. and Max.
  115
- Error Acceleration
  115
8 Registers

117
- Introduction to Registers
  118
- Mis23X Registers
  119
  - Mis23X and SMC75 Register Overview
    119
  - Detailed Description of the Individual Bits
    123
  - Prog-Vers
    123
  - Mode_Reg
    124
  - P_Soll
    125
  - Safe Mode
    125
  - Zero Search Type
    125
  - A_Soll
    126
  - Run_Current
    126
  - Standby_Time
    126
  - V_Soll
    126
  - P_Ist
    127
  - Standby_Current
    127
  - V_Ist
    127
  - Encoder_Pos
    128
  - Gear1
    128
  - Gear2
    128
  - V_Start
    128
  - Flwerr
    129
  - Flwerrrmax
    129
  - Outputs
    129
  - Command
    130
  - Min_P_Ist
    130
  - Status Bits
    130
  - Temp
    130
  - Acc_Emerg
    131
  - Err-Bits
    131
  - Max_P_Ist
    131
  - P_Home
    132
  - Start Mode
    132
  - V_Home
    132
  - Warn_Bits
    132
  - 16Bit R/W 1-65535
    133
  - Absolute Encoder Position
    133
  - Access Range 16Bit R/W
    133
  - Home Mode
    133
  - Size
    133
  - Size Access Range
    133
  - Size Access Range 16Bit R/W -1023-1023
    133
  - SSI Encoder Value
    133
  - 16Bit R/W 1-65535
    134
  - 9.54 Rpm/S
    134
  - Pn
    134
  - Rpm
    134
    
    Tn
    134
    
    Vn
    134
    
    Analogue Filtered
    135
    
    Analogue in
    135
    
    Busvol
    135
    
    Min_Busvol
    135
    
    Afzup_Confmin
    136
    
    Afzup_Readindex
    136
    
    Afzup_Writebits
    136
    
    Encoder_Typ
    136
    
    Afzup_Confmax
    137
    
    Afzup_Filter
    137
    
    Afzup_Maxslope
    137
    
    Filterstatus
    137
    
    Pulsedirmask
    138
    
    Pulsedirmod
    138
    
    Ssi_Setup
    138
    
    Rec_Cnt
    139
    
    Sample 1-4
    139
    
    Settling Time
    139
    
    Ssi_Setup2
    139
    
    Buf_Size
    140
    
    Index_Offset
    140
    
    S_Control
    140
    
    S_Time
    140
    
    Home_Bits
    141
    
    Setup_Bits
    141
    
    Iosetup
    142
    
    Nl_Mask
    143
    
    Turntable_Mode
    143
    
    Turntable_Size
    143
    
    Can_Setup1
    144
    
    Can_Setup2
    144
    
    Home_Mask
    144
    
    Pl_Mask
    144
    
    Error_Mask
    145
    
    Inpos_Mask
    145
    
    Input Filter Mask
    145
    
    Input_Filter_Cnt
    145
    
    Acceptance Count
    146
    
    Acceptance Voltage
    146
    
    Analogue Input Selection
    147
    
    P_New
    147
    
    Save Threshold Voltage
    147
    
    Baud_Rate
    148
    
    Group_Id
    148
    
    Group_Seq
    148
    
    Tx_Delay
    148
    
    Motor Type
    149
    
    My_Addr
    149
    
    Checksum
    150
    
    Hardware_Rev
    150
    
    Serial_Number
    150
    
    Available_Io
    151
    
    Bootloader_Ver
    151
    
    Max_Voltage
    151
    
    Not Saved
    151
    
    Ext_Encoder
    152
    
    Fbus_Baud
    152
    
    Fbus_Node_Id
    152
    
    Option_Bits
    152
    
    Ext_Encoder_Vel
    153
  - 511 5.87Ma
    154
  - Acceleration
    154
  - Default Unit
    154
  - Mactalk Name
    154
  - Max Velocity
    154
    
    Mis34X & Mis43X Registers
    154
    
    Mis34X, Mis43X and SMC85 Register Overview
    154
  - Running Current
    154
  - Standby Time
    154
- Prog_Vers
  158
9 Building Sequential Programs

189
- Getting Started with Programming
  190
- Programming Main Window
  191
- Programming Menu
  192
- How to Build a Program
  193
- General Programming Hints
  196
- Command Toolbox Description
  197
- Graphic Programming Command Reference
  198
  - Enter Your Own Remarks
    198
  - Set Operation Mode
    198
  - Move Operations
    198
  - Unconditional Jump
    205
  - Conditional Jump (Single Input)
    205
  - Wait for Ms before Continuing
    207
  - Set a Register in the MIS Motor
    209
  - Jump According to a Register in the MAC Motor
    209
  - Save Position
    210
  - Zero Search
    211
  - Send Fastmax Command
    212
  - Send Fastmac Command
    213
  - Binary Command
    213
  - Calculator
    214
  - Jump According to a Composition
    216
10 Canopen Introduction

217
- General Information about Canopen
  218
  - Mis23X (SMC75)
    218
  - Mis34X (SMC85)
    218
  - Cia Membership
    218
  - Canopen, General Information
    219
  - Message-Oriented Protocol
    219
  - Prioritisation of Messages
    219
  - Multi-Master Capability
    220
  - No-Loss Bus Arbitration
    220
  - Short Block Length
    220
  - Header
    220
  - Connecting the Mis23X (SMC75) to the CAN Bus
    222
  - Necessary Accessories for Mis23X (SMC75)
    222
- Connection and Setup of the CAN Bus
  222
- Using Canopenexplorer
  226
  - Using Canopenexplorer
    227
  - How to Use Canopenexplorer
    229
- Objects in the DS301 Standard
  231
  - DS301 Specified Communications Objects
    231
  - Emergency Object
    232
  - Note Regarding “Device Type” (Index 1000)
    232
  - Transmit PDO25
    232
  - Object 2012H – Motor Parameters
    233
  - Enable and Disable Pdos
    233
  - Object 2014H – Motor Parameters (16 Bit)
    233
  - Dynamic Mapping
    234
  - Receive Pdos
    235
  - Receive PDO 22
    236
  - Receive PDO 23
    236
  - Receive PDO 24
    236
  - Transmit Pdos
    237
  - Transmit PDO 21
    237
  - Transmit PDO 22
    237
  - Transmit PDO 23
    237
  - Beckhoff Support
    238
  - PDO Setup in Beckhoff Mode
    238
  - Transmit PDO 25
    238
  - Beckoff Receive PDO Setup
    239
  - Receive PDO1
    239
  - Receive PDO 2
    239
  - Receive PDO 3
    239
  - Beckoff Transmit PDO Setup
    240
  - DSP-402 Support
    241
  - Preconditions
    241
- Objects Used in the DSP-402 Standard
  241
  - Supported Objects
    242
  - Factors
    244
  - Position Factor
    244
  - Velocity Encoder Factor
    245
  - Acceleration Factor
    245
  - Changing Operation Mode
    246
  - Profile Position Mode
    246
  - Zero Search Mode
    246
  - Supported Pdos
    247
- Flexible Register Setup
  248
- Canopen DS-301 Device Profiles
  249
- More Details of Canopen Theory
  249
  - Boot up Telegram
    250
  - Pdo
    251
  - Write PDO Service
    251
  - Read PDO Service
    252
  - PDO Identifier
    252
  - SDO (Service Data Objects)
    252
  - More Details of Canopen Theory
    253
  - Upload SDO Protocol
    253
  - Abort SDO Transfer Protocol
    254
  - SYNC (Synchronisation Object)
    255
  - Nmt
    256
  - A General NMT Protocol
    256
  - Start Remote Node
    256
  - Stop Remote Node
    256
  - Reset Node
    257
  - Reset Communication
    257
  - Error Control Services
    257
  - Node Guarding/Life Guarding
    257
  - Heartbeat
    258
11 Modbus Interface

261
- Modbus in Mis34X and SMC85
  262
  - Read Holding Operation
    263
  - Write Multiple Register Operation
    263
12 Stand Alone Electronics

265
- Step Motor Drivers (Smdxx)
  266
- Step Motor Controllers (Smcxx)
  268
  - SMC75 Connector Overview
    271
  - Connector J1 - Pin Description
    272
- How to Connect the Motor
  273
  - Cabling
    273
  - Connection of Step Motor
    274
  - 2-Phase Motors (4 Wires).
    274
  - 4-Phase Motors (8 Wires).
    274
  - Parallel Connection of Phases
    274
  - Serial Connection
    275
  - Parallel Connection
    275
  - Mis23X: M12 Connections
    276
  - Example of SMC75 Controller Connections
    276
  - 5- Pole Connector
    276
  - 8-Pole Connector
    276
- How to Connect in General
  276
- Quick Start (Smc75A1Mxaa)
  277
- Getting Started with the Smc75A1Mxaa and Mactalk
  277
13 Technical Data

278
- Mis23X Technical Data
  279
- Mis34X Technical Data
  280
- SMC75 Technical Data
  281
- Torque Curves
  282
- Physical Dimensions
  284
- Physical Dimensions MIS231, MIS232 and MIS234
  284
- Life Time
  287
  - Life Time of Ball Bearings in Mis34X
    287
  - Expected Ball Bearing Life Time V.S. Distance
    287
- Trouble-Shooting Guide
  288
14 Connection to Other Equipment

289
- Connecting Misxx/Smc75 to SMD73
  291
- Connecting Misxx/Smc75 to SMD41
  292
- Connecting Misxx/Smc75 to MAC00-Bx
  293
- Connection to PLC/PC Boards
  294
15 Accessories

295
- Cables
  296
- Power Supplies
  297
  - Psu00-Pd1
    297
  - Psu48-240
    297
  - Other Power Supplies
    297
- Brakes and Shaft Reinforcement
  298
- Gear and Brake Mounting Instruction
  299
16 Appendix

301
- Mis23X & SMC75 Registers Detailed
  302
- MIS34/43/SMC85 Registers Detailed
  312
- MIS34/43/SMC85 Registers Detailed
  317
- Velocity Accuracy
  322
  - Velocity Acuracy - Only Mis23X
    322
  - Velocity Accuracy - Only Mis34X/43X
    322
- Command Timing
  323
- More about Program Timing
  324
- Motor Connections
  325
- Serial Communication
  327
  - Supported Commands
    327
  - Read Register
    327
  - Block Description
    327
  - Write Register
    328
  - Enter Safe Mode
    328
  - Exit Safe Mode
    328
  - Write to Flash
    329
  - Reset Controller
    329
  - Group Write Register
    330
  - Program Status and Command
    330
- MIS Ordering Information
  332
- SMC75/85 Ordering Information
  333
- MST Motor Ordering Information
  334
17 Declarations

336
- CE Declaration of Conformity
  337
- Vibrationtest Certificate Mis23X
  339
- Vibrationtest Certificates Mis34X
  340
- Index
  342
- Index
  343

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