JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x
105
5.3.6
Setup without MacTalk
If MacTalk is not used for setting up parameters/registers related to the closed loop fea-
ture it must be done as follows.
The motor contains a number of registers which can be accessed from various protocols
depending at which options the motor has.
Protocols available are for example Ethernet (EthernetIP, PROFINET etc.) and CAN-
open, Modbus or the MacTalk protocol.
Each field in MacTalk described earlier in this chapter is accessing a register in the motor.
The registers that are relevant for closed loop operation are:
R25
STATUS_BITS
Overall status related to the closed loop feature.
- Bit 15: Closed loop lead/lag
- Bit 16: Closed loop activated
- Bit 17: Internal encoder calibrated
- Bit 20: Internal encoder ok
See also:
R35
ERR_BITS
Error status related to the closed loop feature.
Following bits are available in the setup bit register.
- Bit 12: Closed loop error.
- Bit 14: Abs. single turn encoder (H2/H4) error.
See also:
R124
SETUP_BITS
This register is used to activate or deactivate the
closed loop and current control feature.
Following bits are available in the setup bit register.
- Bit 24: Enable closed loop
- Bit 25: Enable closed loop current control
See also:
R217
ACTUAL_TORQUE
The actual motor current in closed loop with active
current control. 2047 = 100% current.
See also:
R245
CL_CATCH_UP
In case the motor lags behind in closed loop mode
this register determine which over speed that is al-
lowed to catch up to the right position.
It also determines how much the motor can slip be-
hind before the overspeed is used to catch up.
- Bit 0-7: Allowable overspeed in percent (0-100)
- Bit 8-31: Follow error limit before overspeed is
used (encoder counts).
See also:
Other registers that may be relevant for the closed loop operation:
R5
V_SOLL
The maximum (nominal) velocity allowed.
See also:
R6
A_SOLL
The acceleration/deceleration ramp to use.
See also:
R7
RUN_CURRENT
The maximum motor current is setup in this regis-
ter. See also:
Only MISxxx---
H2/H4
---
Summary of Contents for MIS17 Series
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