JVL MAC00-EC4, User Manual

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274 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors
12.3 Motor registers MAC400 - 4500
TT1501GB
Reg.
Nr.
Firmware /
MacRegIo
Name MacTalk
Name Range/
Default
Size /
Access
Unit Description
3 P_SOLL Max
Velocity
± 2^31
/ 0
Word /
RW
Encoder
counts The target position that the drive will attempt to
reach in position related modes.
4 P_NEW
(not present)
±2^31
/ 0
Word /
RW
Encoder
counts Used to update both P_IST and P_SOLL in a
single atomic operation to prevent motor
movements during the change.
P_NEW holds either an absolute position or a
relative position.
After writing a value to P_NEW, update both bits
8 and 6 in Reg36, CNTRL_BITS.
Bit 8, SYNCPOSREL, will
select a relative
position update when set or an absolute update
when cleared.
Setting bit 6, SYNCPOSMAN, executes the
P_IST+P_SOLL update, that is, either both are
set equal to P_NEW, or P_NEW is added to both,
using signed addition. P_FUNC is updated
accordingly.
The undocumented FastMac commands 23 and
24 can also be used to set these bits and perform
the same absolute and relative updates.
This is useful for expanding the logical position
range /-
2^31.
5 V_SOLL Max
Velocity Na /
277
(100RPM)
Word /
RW
Cnt’s/
sample
Desired velocity 1 RPM=2.77056 counts/sample.
Example: To obtain 100 RPM, V_SOLL must be
set to
277.
6 A_SOLL Acceleration na /
18
(5003RPM/s²)
Word /
RW
Cnt’s/
Sample²
The desired nominal acceleration.
1000 RPM/s = 3.598133 counts/Sample²
Example: To obtain 100000 RPM/s, A_SOLL
must be
set to 360.
7 T_SOLL Torque 0-1023
/
1023
(300%)
Word /
RW
- The maximum torque that the drive is allowed to
use.
The value 1023 corresponds to 300% of nominal
load, and is the absolute maximum peak torque
allowed. The value 341 gives 100% (nominal
load).
8 P_FNC Word /
RW
Encoder
counts
9 INDEX_OFFSET
(not present)
Word /
RW
Encoder
counts Updated after a Zero Search to show at what
single-turn encoder position the zero point was
detected. This is used by MacTalk on the Test tab
to show if the zero search resulted in a valid zero
position.
10 P_IST Actual
Position ±2^31 /
0
Word /
RW
Encoder
counts The actual motor position measured by the
internal encoder. Updated every 1.3ms (or every
2.6 ms
with Reg157, OUTLOPDIV=2) Note that
this register is maintained incrementally, which
means that the user can update it to offset the
working range. When updating when the drive is
not in Passive mode, P_IST and P_SOLL should
be updated together in an atomic operation, using
Reg4, P_NEW, or other special measures. Also
note that the firmware will change this register
after a zero search operation has completed.
11 V_IST_16 Actual
Velocity Na /
0
Word /
R
Enc.cnt’s/
Sample/16
V_IST (actual velocity) measured over 16
samples. Same unit as V_SOLL (register 5).
12 V_IST
(not present)
Na /
0
Word /
R
Enc.cnt’s/
Sample
Actual velocity. 1RPM=0.17316 counts/sample.
13 KVOUT Load Na /
65536
(1.0)
Fixed16
/
RW
- Must be set to the ratio between the total inertia
driven by the motor relative to the motors own
rotor inertia. So for at motor shaft that is not
mechanically connected to anything, this value
should be 1.0.
The load factor is perhaps the single most
important value of the filter setup. Always try to
set this right before experimenting with filter
setups.