JVL MAC050, User Manual

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20 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800
2.2 Gear Mode
Profile data In gear mode, motor movement is fundamentally controlled from the
external signal source, but via the 4 parameters specified in “Profile
data” field it is possible to add limitations to speed, etc.
“Velocity”
The velocity field can be used to limit the maximum speed of the mo-
tor. Example - if an external encoder is producing a frequency which
theoretically should give a MAC motor speed of 10000 RPM, the
speed can be limited to 4000 RPM (max. allowed speed for the
MAC). The motor will be unstable and go in error within some time
since it is not able to run at 10000 RPM. Note that no pulses are lost
if the velocity is limited. They are simply remembered and used when
the input frequency falls to a level at which the motor is able to fol-
low.
“Acceleration”
The acceleration parameter can be useful in systems in which the sig-
nal source instantaneously applies a high frequency without any accel-
eration. Under this condition, the MAC motor will take care of
making a controlled acceleration and deceleration. Note that no puls-
es are lost if the acceleration is limited. They are simply remembered
and used when motor velocity reaches a level corresponding to the
input frequency.
“Torque”
The maximum torque can be limited in the range 0-300%. 300%
corresponds to the rated peak torque of the MAC motor used.
“Load”
The Load parameter is the overall gain in the position/velocity filter
and ensures that the motor is stable with the actual mechanical inertia
used in the application. See also the filter setup chapter for further
details.
Error Handling Worst case limits for the position range and follow error (maximum
position error) can be set up here. Please consult the Error Handling
chapter for details.
Motor Status The actual mode, speed, position, position error, load torque, load
current, regenerative energy (energy returned from the motor) can
be monitored here.
Inputs The supply voltage can be measured here.
Zero search In typical gear mode applications the motor is moving relatively with-
out any absolute zero point, but for applications that require a specif-
ic mechanical zero position, the general zero search in the MAC
motor can be used. Please consult the chapter Mechanical zero
search, page 26 .