JVL MAC00-EC4, User Manual

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276 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors
12.3 Motor registers MAC400 - 4500
TT1503GB
Reg.
Nr. Firmware /
MacRegIo Name MacTalk
Name Range/
Default
Size /
Access
Unit Description
30 MAX_P_IST
(not
present)
Na /
0
Word /
RW
Encoder
counts Used to define and enable the maximum software
position limit, so the motor will stop (and enter passive
mode) if the value of P_IST (the actual position) gets
above this value. If MAX_P_IST is zero, the high
position limit will not be enabled.
In Rotary Table
operation, this limit is used as the higher wrap-around
position count
31 DEGCMAX
(not
present)
Na /
690
(84’C)
Word /
R
- The maximum value of Reg29, DEGC, before the motor
will set the Temperature error bit in ERR_STAT and
change into Passive mode.
Same scaling as Reg29,
DEGC.
32 ACC_EMERG
(not
present)
Na /
0
Word /
RW
- Acceleration to use during emergency stops.
33 INPOSWIN
(not
present)
Na /
100
Word /
RW
Encoder
counts The value of this parameter depends on the operating
mode. In all cases it helps to define when the motor is
InPosition and thus will set the InPosition bit in the
ERR_STAT regis ter.
For normal Position related modes, the motor is
considered to be in position when the actual position is
less than INPOSWIN encoder counts away from its
target position P_SOLL and have been detected to be
so at least INPOSCNT times.
For Velocity related modes, the concept of InPosition
will instead mean AtVelocity and work in a similar way
that the actual velocity V_IST must have been
measured INPOSCNT consecutive times to be within
INPOSWIN counts/sample before the InPosition bit is
set in Reg35, ERR_STAT.
34 INPOSCNT
(not
present)
Na /
3
Word /
RW
- The number of consecutive times the In Position
condition must have been met before the InPosition bit
is set in ERR_STAT. See description above for
INPOSWIN.
35 ERR_STAT
(not
present)
Na /
0
Word /
RW
- Bit 0, I2T_ERR
Set when the calculated thermal energy stored in the physical
motor exceeds a limit. Condition is that Reg16, I2T gets larger
than Reg17, I2TLIM.
Bit 1, FLW_ERR
Set if the follow error in Reg20, FLWERR, gets larger than
Reg22, FLWERRMAX.
Never set if Reg22, FLWERRMAX is
zero.
Bit 2, FNC_ERR
Set if the function error in Reg24, FNCERR, get slarger than
Reg26, FNCERRMAX.
Never set if Reg26, FNCERRMAX is
zero.
Bit 3, UIT_ERR
Set when the calculated energy/temperature in the internal
brake resistor (power dump) get dangerousl high.
Bit 4, IN_POS
In Position mode, status of when/whether the motor position is
inside the inposition window defined by RegReg33,
INPOSWIN, for the number of samples defined in Reg34,
INPOSCNT. In Velocity mode, this
bit means rather ‘At
Velocity’. For other modes, like Torque modes, see the
technical manual for details of how the inposition status is
calculated/maintained.
Bit 5, ACC_FLAG
Set when the motor is accelerating, which means that the
velocity changes from a higher value to a lower value over tah
latest samples. Please note that, when the velocity is negative,
this flag is set when the velocity changes from a more negative
value to a less negative value (closer to zero). This may not be
intuitive, but can be said to be mathematically correct, and is
maintained for backwards compatibility reasons.