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JVL MIS17 Series, User Manual

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JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x

267

11

CANopen (optional)

This chapter covers the JVL Stepper motor controllers SMC66 and SMC85 which are 

used with the MIS17x, 23x, 34x and 43x motor series on a CANopen network.

The chapter covers the following main topics:

-

General introduction: a section with general information about CANopen. See

section 11.1.1

 to 

section 11.1.5

.

-

Setting up the Baud-rate, node-id and termination of the CAN bus. Covers also the

wiring of the CAN bus. See 

section 11.2.1

 to 

section 11.2.5

.

-

Using CANopenExplorer.

See 

section 11.3.1

 to 

section 11.3.3

.

-

Survey of Communication specific objects and manufacturer specific objects in the

DS301standard. Communication objects consist of the general information about

the settings in the module, while the Manufacturer specific objects consist of the 

settings of input/output and the motor parameters. This section also covers the 

settings of the transmit and receive PDOs in the module. See 

section 11.4.1

 to

section 11.4.7

.

-

Survey of objects which are used in the DSP-402 standard. See 

section 11.5.1

 to

section 11.5.7

.

-

Section with more detailed explanations of the CANopen theory, particularly

DS-301.

See 

section 11.7.1

 to 

section 11.7.7

.

Summary of Contents for MIS17 Series

Page 1: ...LB0058 13GB 28th January 2019 JVL Industri Elektronik A S Integrated Step Motors QuickStep MIS17x MIS23x Generation 2 MIS34x and MIS43x Including Step Motor Controller SMC66 SMC85 User Manual ...

Page 2: ...l without prior notice Furthermore JVL Industri Elektronik A S assumes no liability for printing er rors or other omissions or discrepancies in this user manual MacTalk and MotoWare are registered trademarks JVL Industri Elektronik A S Bregnerødvej 127 DK 3460 Birkerød Denmark Tlf 45 45 82 44 40 Fax 45 45 82 55 50 e mail jvl jvl dk Internet http www jvl dk The MIS and SMC series of products are us...

Page 3: ... 77 4 1 Using the MacTalk software 78 4 2 How to update MacTalk 86 4 3 How to update the motor firmware 87 4 4 How to update the encoder FW 88 4 5 How to get SW HW motor info 89 5 Description of functions 91 5 1 Setting up the motor current 92 5 2 Auto Correction 94 5 3 Closed loop operation 98 5 4 Absolute position back up 108 5 5 Multifunction I O setup 112 5 6 Dedicated outputs 115 5 7 SSI enco...

Page 4: ...11 6 Flexible Register setup 297 11 7 More details of CANopen Theory 298 12 Modbus interface 309 12 1 Modbus 310 13 Stand alone electronics 313 13 1 Step motor controllers SMCxx 314 14 Non intelligent products 317 15 Technical Data 319 15 1 MIS17x Technical Data 320 15 2 MIS23x Technical Data 321 15 3 MIS34x Technical Data 322 15 4 MIS43x Technical Data 323 15 5 Torque Curves 324 15 6 Physical Dim...

Page 5: ...zes Types MIS43x NEMA43 sizes only limited supported in this manual Important Please notice that only the latest generation of MIS17x and MIS23x is supported by this user manual The extension after MIS23x must be S Q T or R Stand alone electronics without motor Types SMC66 and SMC85 controller PCB with intelligence fully programmable All the Quickstep motors are available as a fully programmable p...

Page 6: ... Fixed 409600 steps per revolution Built in 32Bit μprocessor with 8 In Out that can be configured as inputs PNP out puts or analogue inputs 5V serial and RS485 interface for set up and program ming MODBUS interface 9 6kbit sec to 1Mb sec communication Benefits when using the MIS motors De central intelligence Simple installation No cables between motor and controller driver EMC safe Switching nois...

Page 7: ...pper Motors MIS17x 23x 34x 43x 7 1 1 Feature overview The MIS motors are also available with alternative options Protection class IP42 and higher Hollow shaft Integrated ball screw or spindle for linear movement Custom made design for special applications ...

Page 8: ...8 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS17x 23x 34x 43x 1 1 Feature overview 1 1 1 Block diagram Positioning Speed Control ...

Page 9: ...ent family sizes which have a NE MA17 23 34 and 43 flange Under each flange size additional versions exist with different motor torques TT2551 01GB Motor family torque overview Low speed Torque Nm 0 5 1 0 0 1 100 0 14161 10 0 20 0 30 0 5 0 MIS17x MIS23x MIS34x Flange size NEMA17 NEMA23 NEMA34 NEMA43 Low speed Torque Oz In 1416 141 6 70 81 708 1 4248 2832 14 16 MIS43x ...

Page 10: ...ype MIS340 MIS341 MIS342 MIS343 Holding torque Nm Oz In 2 0 282 4 575 6 0 849 8 0 1151 Low speed torque 1 RPM Nm Oz In 3 0 424 6 1 863 9 0 1274 12 0 1727 Inertia kgcm Oz In Sec 1 4 0 0198 2 7 0 0381 4 0 0 0564 4 0 0 0564 Weight kg lb 2 05 4 52 3 13 6 9 4 2 9 26 4 5 10 71 Max axial shaft force 115N Max radial shaft force 180N applied 12 5mm from shaft end Motor type MIS430 MIS432 Holding torque Nm ...

Page 11: ...JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS17x 23x 34x 43x 11 2 Hardware The following pages explains how the I O Power supply Interface etc can be connected and used ...

Page 12: ...r circuit if present except that the motor driver and motor is power less and will not rotate Supplying both terminals from the same power supply can be done but then 28VDC is the absolute maximum voltage allowed maximum limit of CVI NB for actual connections see drawing How to connect a MIS motor page 37 2 1 2 Supplying only the control core The main supply at the terminal P can be removed while ...

Page 13: ...ed 30 VDC A CVI voltage down to 7 VDC is also possible but a software setup is needed to allow this See also Setup position backup using MacTalk page 108 Warning A supply voltage at CVI or P higher than 100VDC will cause permanent damages A voltage over 30V at the CVI will activate a protection circuit which shuts down the supply input In this case CVI need to be disconnected to reset the protecti...

Page 14: ...nected to earth Also it is mandatory that the earth is connected to GND Common at a central point near the power supply The P GND Common is internally connected to the motor chassis housing Also the outside body at all M12 connectors is connected to the chassis housing and thereby to the P GND Common The illustration below shows how to make a good power and earth connection of the MIS motor ...

Page 15: ...uit get triggered the CVI power need to by cycled in order to reset the protection A CVI voltage down to 7 VDC is also possible but a software setup is needed to allow this See also Setup position backup using MacTalk page 108 The figure below shows the typical relation between supply current and supply voltage at the CVI input As shown the current is very dependant at which options is installed i...

Page 16: ...also do Consult the torque power curves in the appendix to get more precise info Not recommended for new designs See also the appendix Power Supplies page 341 which shows the standard power sup plies that JVL offers Supply voltage MIS171 All types MIS173 All types MIS176 All types Supply rating Fuse size Supply rating Fuse size Supply rating Fuse size 12VDC 35W T4A 40W T4A 40W T4A 24VDC 70W T3 15A...

Page 17: ...so the appendix Power Supplies page 341 which shows the standard power sup plies that JVL offers Supply voltage MIS231S MIL231 MIS232S MIL232 MIS234S MIL234 Supply rating Fuse size Supply rating Fuse size Supply rating Fuse size 12VDC 80W T4A 70W T6 3A 60W T5A 24VDC 130W T6 3A 110W T6 3A 100W T5A 48VDC 240W T6 3A 240W T6 3A 200W T5A 72VDC 370W T6 3A 350W T6 3A 300W T5A Recommended power supplies P...

Page 18: ...orst case scenario at higher velocities Less may also do Consult the torque power curves in the appendix to get more precise info Not recommended for new designs See also the appendix Power Supplies page 341 which shows the standard power sup plies that JVL offers Supply voltage MIS340 MIL340 MIS341 MIL341 MIS342 MIL342 MIS343 Supply rating Fuse size Supply rating Fuse size Supply rating Fuse size...

Page 19: ... which is to be UL approved following must be fol lowed 1 Supply voltage P Do not use a supply voltage higher than 60VDC 2 Place a UL approved fuse in the P wire 3 Make sure the motor is properly connected to a solid protective earth 4 The surounding ambient temperature must maximum be 40 C Notice that only the MIS34x family is UL recognized under UL file no E254947 ...

Page 20: ... at speeds below 100RPM but at higher velocities the torque will be very influenced by the supply voltage P terminal Additionally higher voltage gives better current and filter regulation and thereby better performance If there is a tendency for motor resonance a lower supply voltage can be a solution to the problem Below an example showing the torque curve for the MIS232S As seen the torque and p...

Page 21: ...y differ de pending at which motor type and connector configuration you are using Please consult the chapter Connector overview for the MIS motors page 37 Input output functional diagram 2 2 2 General Input features Inputs are TTL to 28VDC compliant Trigger levels LTL 1 2 V and UTL 2 8 V Over current protection and thermal shut down 10 kOhm input resistance No galvanic isolation but very robust ag...

Page 22: ...is internally fused to a maximum allowable current of 750 mA 2 2 4 Connection of NPN Output If an Input is connected to an NPN output a Pull Up resistor must be connected be tween the Input and the supply See the illustration above The value of the resistance used depends on the supply voltage The following resistances are recommended Supply Voltage Recommended Resistance R 5 12VDC 1kOhm 0 25W 12 ...

Page 23: ...ering it will again take the same number of samples of the opposite logical level to change it back For example if the filter is set to 5 mS and the start value is 0 zero the input will remain at zero until three samples in succession have been read as 1 one If the signal immediately drops down to 0 again it will take three samples of zero in suc cession before the register bit gets set to zero No...

Page 24: ...earlier in this chapter is accessing a register in the motor The registers that are relevant for digital filters setup are R135 INPUT_FILTER_ MASK This register controls filtering of each of the eight I O pins that are used as digital inputs If the bit corre sponding to the input number is set in this register the filter will be enabled See also Input_Filter_Mask page 216 R136 INPUT_FILTER_ CNT Th...

Page 25: ...om all other inputs and outputs The Analogue Inputs are pro tected against voltage overload up to 30V peak and have a built in filter which removes input signal noise See Analogue input filters page 26 Always use shielded cable to connect the source used to control an Analogue Input since the motor etc can easily interfere with the analogue signal and cause instability The Controller is equipped w...

Page 26: ... equipment can be a problem To help filtering an analogue input signal the MIS have an advanced input filter function This can be setup as follows 2 3 3 Analog filter setup with MacTalk It is strongly recommended to setup the analog input filtering using MacTalk The setup dialog is found in the menu Motor Filter setup or the Filter setup button on the toolbar Write the settings for each Input and ...

Page 27: ...t 15 in this register to show that registers 102 106 are free to receive new values for pro gramming the remaining inputs with other filter parameters To use the same filtering for all analogue inputs this register can be loaded with 255 hex FF R101 Afzup_ReadIndex This register makes it possible to read back the analogue input filter parameters for 1 an alogue input at a time To select a new inpu...

Page 28: ...he knob is turned The filter functions supported in the MIS firmware always use three different steps Confidence check First the raw input value is compared to two Confidence limits Confidence Min and Confidence Max If the new value is either smaller than the Confidence Min limit or larger then the Confidence Max limit it is simply discarded not used at all and the value in its associated register...

Page 29: ...input has a status bit that is set if at least half of the new samples during the last second were limited by the Max Slope setting The status bits are updated once per second Example of analogue input filter operation Note that even though the examples use units rather than Volts decimal values are used since the motor uses a much higher resolution internally to store the units Also note that as ...

Page 30: ...0 Confidence OK no slope limitation needed result 100 8 64 97 44 56 64 97 76 units The following samples produce the following results ending up with the input value 100 0 98 04 98 28 98 49 98 68 98 85 99 00 99 12 99 23 99 33 99 41 99 48 99 55 99 60 99 65 99 70 99 74 99 77 99 80 99 82 99 84 99 86 99 88 99 90 99 91 99 92 99 93 99 94 99 95 99 95 99 96 99 96 99 97 99 97 99 98 99 98 99 98 99 98 99 99 ...

Page 31: ...rs page 37 Input output functional diagram only one I O shown The Outputs are Source outputs and 7 28VDC compliant No galvanic isolation Short circuit to ground protected that shuts down all outputs and sets Error bit in software Optional In Position and Error signals can be selected to be on any outputs 1 to 8 Optional Encoder outputs 350 mA output current per channel even with all channels fully...

Page 32: ...ra tion 2 4 3 Overload of User Outputs All of the outputs are short circuit protected which means that the program and the mo tor is stopped and the output is automatically disconnected in the event of a short circuit The output will first function normally again when the short circuit has been removed Note Do not connect a voltage greater than 30VDC to the CVI terminal as the output circuitry may...

Page 33: ... multi axis applications and Modbus communication Standard CANbus CANopen DS 301 Fully ISO 11898 2 2016 compliant CANbus CANopen DSP 402 is in development but not available now CANbus and RS485 can be used at the same time Please notice The number of available I O terminals available may differ de pending at which motor type and connector configuration you are using Please consult the chapter Conn...

Page 34: ...n Data bits 8 Baud rate 19200 Stop bit 1 Parity None Central Controller for example a PC QuickStep motor or SMC75 Controller RS485 network with 1 x QuickStep 1 x MAC140 and 1 x MAC800 mounted with MAC00 B1 B2 or B4 modules MAC50 141 Motor MAC800 Motor Power supply A A A A P P P B B B B P P P RS485 Interface Screen connected to GND in each end Opto isolation The last unit in each end of the line mu...

Page 35: ...he cables as short as possible Instead of curling up the cables cut them off at the minimum re quired length 2 7 3 Use separate cables Avoid running digital signals in the same multi wire cables as RS 485 communication sig nals On some models of the MIS motors the same connector contains both RS 485 signals and I O signals typically the I Os 1 4 In many applications far from all inputs and outputs...

Page 36: ...ermination resistors high quality cables where each wire is shielded from the other wires in the cable should be used This is typically done using a metal foil wrapped around each wire These types of cables are more expensive but the overall cost and noise immunity requirements may justify the solution instead of splitting cables 2 7 6 Use simple shielding Using cables with only a single shield sh...

Page 37: ...2 72VDC GND A0 RS485 IO2 IO2 Unused IO6 CNTDIR A RX0_P M12 Pin3 P GND IO2 B0 RS485 IO3 IO3 CAN_GND A Clock DGND TX0_N M12 Pin4 CVI 12 28VDC IO3 A0 RS485 GND GND CAN_H GND B RX0_N M12 Pin5 P GND B1 RS422 GND B0 RS485 B0 RS485 CAN_L B Data In SHIELD M12 Pin6 IO4 A0 RS485 A0 RS485 B Data In M12 Pin7 A1 RS422 IO4 IO4 A Clock M12 Pin8 B1 RS422 CVO out CVO out CVO out M12 Pin9 CVO out M12 Pin10 A1 RS422...

Page 38: ...d next page PWR CN1 Power input M12 5pin male connector Signal name Description Pin no JVL Cable WI1000 M12F5TxxN Isolation group P Main supply 7 72VDC Connect with pin 2 1 Brown 1 P Main supply 7 72VDC Connect with pin 1 2 White 1 P Main supply ground Connect with pin 5 3 Blue 1 CVI Control and user output supply 7 28VDC DO NOT connect 30V to this terminal 4 Black 1 P Main supply ground Connect w...

Page 39: ...pin female connector Signal name Description Pin no JVL Cable WI1009M12 M17TxxN Isolation group see note IO1 I O channel 1 Can be used as input or output 1 Brown 1 GND Ground intended to be used together with the other signals in this connector 2 Blue 1 IO2 I O channel 2 Can be used as input or output 3 White 1 IO3 I O channel 3 Can be used as input or output 4 Green 1 B1 RS422 I O terminal B 5 Pi...

Page 40: ... 22AWG and foil screen Length 5m 197 inch WI1000 M12M5T05N X Same as above but 20m 787 inch WI1000 M12M5T20N X Cable with M12 male 8 pin connec tor loose wire ends 0 35mm 22AWG and screen WI1000 M12M8T05N X Same as above but 20m 787 inch WI1000 M12M8T20N X Cable with M12 male 17 pin connector loose wire ends 0 22mm 24AWG and screen Length 5m 197 inch WI1009 M12M17S05N X Same as above but 20m 787 i...

Page 41: ...inued next page PWR CN1 Power input M12 5pin male connector Signal name Description Pin no JVL Cable WI1000 M12F5TxxN Isolation group P Main supply 7 72VDC Connect with pin 2 1 Brown 1 P Main supply 7 72VDC Connect with pin 1 2 White 1 P Main supply ground Connect with pin 5 3 Blue 1 CVI Control and user output supply 7 28VDC DO NOT connect 30V to this terminal 4 Black 1 P Main supply ground Conne...

Page 42: ... 1 CN4 RS485 I O Backup option connector M12 17pin female connector Signal name Description Pin no JVL Cable WI1009M12 M17TxxN Isolation group see note IO1 I O channel 1 Can be used as input or output 1 Brown 1 GND Ground intended to be used together with the other signals in this connector 2 Blue 1 IO2 I O channel 2 Can be used as input or output 3 White 1 IO3 I O channel 3 Can be used as input o...

Page 43: ...s 0 35mm 22AWG and foil screen Length 5m 197 inch WI1000 M12M8T05N X Same as above but 20m 787 inch WI1000 M12M8T20N X Cable with M12 female 8 pin connector loose wire ends 0 22mm 24AWG and screen Length 5m 197 inch WI1000 M12F8T05N X Same as above but 20m 787 inch WI1000 M12F8T20N X Cable with M12 male 17 pin connector loose wire ends 0 22mm 24AWG and screen Length 5m 197 inch WI1009 M12M17S05N X...

Page 44: ...Following scheme gives the relevant information about each connector and the pins wire colours and a short description of the signals available The connector layout Continued next page PWR CN1 Power input M12 5pin male connector Signal name Description Pin no JVL Cable WI1000 M12F5TxxN Isolation group P Main supply 7 72VDC Connect with pin 2 1 Brown 1 P Main supply 7 72VDC Connect with pin 1 2 Whi...

Page 45: ...the other signals in this connector 2 Blue 1 IO2 I O channel 2 Can be used as input or output 3 White 1 IO3 I O channel 3 Can be used as input or output 4 Green 1 B1 RS422 I O terminal B 5 Pink 1 IO4 I O channel 4 Can be used as input or output 6 Yellow 1 A1 RS422 I O terminal A 7 Black 1 B1 RS422 I O terminal B 8 Grey 1 CVO Supply output Connected internally to the CVI terminal in the PWR connect...

Page 46: ...ugh cable type RS485 M12 1 5 8 USB to RS485 Converter To be used if no RS485 COM port is avail able RS485 USB ATC 820 X X Cable Ø5 5mm with M12 male D coded 4 pin connector loose wire ends 0 35mm 22AWG and foil screen Length 5m 197 inch WI1046 M12M4S05R X X Same as above but 15m 590 inch WI1046 M12M4S15R X X Cable Ø5 5mm with M12 male D coded 4 pin connector and RJ45 connector Length 5m 197 inch W...

Page 47: ...ate Following scheme gives the relevant information about each connector and the pins wire colours and a short description of the signals available The connector layout Continued next page PWR CN1 Power input M12 5pin male connector Signal name Description Pin no JVL Cable WI1000 M12F5TxxN Isolation group P Main supply 7 72VDC Connect with pin 2 1 Brown 1 P Main supply 7 72VDC Connect with pin 1 2...

Page 48: ...te IO1 I O channel 1 Can be used as input or output 1 Brown 1 GND Ground intended to be used together with the other signals in this connector 2 Blue 1 IO2 I O channel 2 Can be used as input or output 3 White 1 IO3 I O channel 3 Can be used as input or output 4 Green 1 B1 RS422 I O terminal B 5 Pink 1 IO4 I O channel 4 Can be used as input or output 6 Yellow 1 A1 RS422 I O terminal A 7 Black 1 B1 ...

Page 49: ...ugh cable type RS485 M12 1 5 8 USB to RS485 Converter To be used if no RS485 COM port is avail able RS485 USB ATC 820 X X Cable Ø5 5mm with M12 male D coded 4 pin connector loose wire ends 0 35mm 22AWG and foil screen Length 5m 197 inch WI1046 M12M4S05R X X Same as above but 15m 590 inch WI1046 M12M4S15R X X Cable Ø5 5mm with M12 male D coded 4 pin connector and RJ45 connector Length 5m 197 inch W...

Page 50: ...will only work with a MIS motor where the OUT and IO is supplied from the CN4 connector See also the I O description for the module If a cable is connected to the BYPASS then the Communication pins and GND must be properly connected to valid signals pins 2 15 17 AND COM must not be used In other words use EITHER the BYPASS OR the COM connector Not both 36 0mm 1 42 inch 54 0mm 2 126 inch 0 5 0mm 0 ...

Page 51: ...Pin 6 Pin 7 Pin 8 Body Funct IO1 IO2 IO3 Ext Backup IO6 IO5 GND CVO GND Funct IO4 IO7 IO8 Ext Backup IO6 IO5 GND CVO GND Func IO4 A0 RS485 B0 RS485 GND B0 RS485 A0 RS485 IO7 IO8 GND Color White Brown Green Yellow Grey Pink Blue Red Color White Brown Green Yellow Grey Pink Blue Red Notes Colors shown are based on the JVL standard cables type COM connection 8 Pin Male cable WI1000 M12M8TxxN connect ...

Page 52: ...52 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS17x 23x 34x 43x 2 8 How to connect a MIS motor Diagram of the internal details in the PA0190 Junction Box TT3090 01GB ...

Page 53: ...e caused of too low Running current or too heavy load L1 to L3 can be configured to show the status of a almost any single bit from a user de fined register Please see FlexLEDSetup1 page 230 for the details LED Text Colour Constant off Constant on Blinking L1 Green Default Only when user configured Only when user configured L2 Green Motor not moving Motor moving L3 Green Motor not in position Moto...

Page 54: ...DSetup1 page 230 for the details LED Text Function Colour Constant off Constant on Blinking L1 CANopen run LED Green Please see below and optionally the DS303 3 standard L2 Motor moving Green Motor not moving Motor moving L3 Motor in position Green Motor not in position Motor in position ERR CANopen error LED Red Please see below and Please see the DS303 3 standard PWR Power Green Power is not app...

Page 55: ...offers optional 6 different Ethernet protocols These are EtherCAT ModbusTCP Profinet Powerlink EthernetIP SercosIII This manual do only cover description of how to connect Concerning LED indicators software and protocol setup and usage please consult a sep arate manual that can be found at www jvl dk using this link www jvl dk The LED descriptions are in the chapters Commissioning for each protoco...

Page 56: ...56 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS17x 23x 34x 43x ...

Page 57: ...JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS17x 23x 34x 43x 57 3 Functional Safety ...

Page 58: ...ied with a 24V nom voltage in order to let the motor be ener gized and thereby operate If one or both of the inputs are not supplied the motor will be de energized and no movement will happen regardless which commands are sent to the motor The STO input simply overrule any other attempts to let the motor run The default settings require manual restart of the motor when the STO signals are re appli...

Page 59: ... failures per hour Consider this value if the safety device is operated in high demand or continuous mode of operation where the frequency of demands for operation made on a safety related system is greater than once per year PFD IEC61508 Average probability of failure on demand value used for low demand operation PL ISO13849 1 Performance level used to specify the ability of safety related parts ...

Page 60: ...functions Other subsystems and the validity of signals and commands from them Designing appropriate safety related control systems hardware software parame terization and so on Protective measures Only qualified and skilled personnel is allowed to install and commission safety engi neering systems Check the ingress protection IP level of the motor before installation in wet humid environments Orde...

Page 61: ...or re sulting in an uncontrolled coast to stop The STO according to EN 61800 5 2 accomplishes a Stop Category 0 stop This is the only category available for the MIS motors alone Other measures must be made to achieve stop category 1 or 2 Stop Category 1 is achieved with power available to the machine actuators to achieve the stop Power is removed from the actuators when the stop is achieved accord...

Page 62: ... Motors MIS17x 23x 34x 43x 3 2 Safety 3 2 3 Important general information If the motor is used outside the environmental limits given in this instruction the motor can not be expected to perform a safe stop when there is a demand on the STO safety function Option ...

Page 63: ...ed by the drive is required to determine how often to test the safety function for proper operation during the life of the machine 3 3 3 Enabling the STO function NOTE The MIS motors must be ordered with the STO option installed The STO option is enabled when the NON STO plug is not inserted please see Disa bling the STO function page 71 to learn more about the NON STO plug 3 3 4 Cables and connec...

Page 64: ...hat functional proof tests be performed on the equipment used in the system Proof tests are performed at user defined intervals and are dependent upon PFD and PFH values IMPORTANT The specific application determines the time frame for the proof test interval Verify op eration of safety function after drive installation modification or maintenance Refer to STO commissioning test page 70 for more in...

Page 65: ...4 2 Activation of STO The STO is activated by removing either signal STO_A STO_B or both In all 3 cases the STO will be active and the motor will not be energized 3 4 3 Parameter settings for STO auto manual restart behavior AUTOMATIC RESTART Automatic restart behavior is only allowed in 1 of the 2 situations The unintended restart prevention is implemented by other parts of the STO instal lation ...

Page 66: ...or action if STO is active Below a description of the 3 possible actions that can be done if the STO is activated They refer to the screen dump above Set Errorbit Default OFF The motor will set both the General bit 0 and the STO bit 29 error bit To get the motor back in normal operation the STO channels must be ON the error must be cleared and an active operation mode must be selected Set Passive ...

Page 67: ...ht status panel as Safe torque off triggered The error will only be cleared by sending the Clear errors command Safe Torque off internal error Will only be set if the STO self diagnostic circuit has detected an internal error In this case the motor must be returned to the manufacturer JVL for repair This error can not be cleared 3 4 7 STO Warning messages Warnings When the Safe Torque Off is activ...

Page 68: ...elated to the STO function Note that other bits for many other functions in the motor are also represented in this register Bit 23 Input status for the STOA input Reading 0 means that the input is inactive no voltage applied Bit 24 Input status for the STOB input Reading 0 means that the input is inactive no voltage applied See also Status bits page 198 R35 ERROR_BITS Error bits related to the STO...

Page 69: ...ut See also Warn_Bits page 202 R124 SETUP_BITS Setup bits related to the STO function Note that other bits for many other functions in the motor are also represented in this register If one or more of the following bits are set the motor will behave as described when the STO function is activated Bit 29 STO_ACTION_ERROR The motor will set both the General bit 0 and the STO bit 29 error bit Bit 30 ...

Page 70: ...restart of STO application page 71 for applications with automatic restart after a safe stop 3 4 10 Restart prevention for STO application Application where SETUPBITS are set to default values STO_ACTION_ERROR 1 STO_ACTION_PASSIVE 0 STO_ACTION_V_ZERO 0 1 Set the motor in an active mode where it runs at well defined velocity 2 Remove STO channel A 3 Check that 3a The motor coasts until stop 3b If a...

Page 71: ...ned velocity Repeat the procedure with STO channel B The commissioning test is successfully completed when all the given steps are passed NOTICE See the warning on the restart behavior in chapter Parameter settings for STO auto manual restart behavior page 65 3 4 12 Disabling the STO function If the STO function is not needed the plug JVL type WI1010 M08M4SSTO must be in serted in the STO connecto...

Page 72: ...te hardware for which substantial failure data exists allowing meaningful quantitative FMEA to be carried out The function does not use software or complex hardware The probability of failure of the safety func tion due to a hardware fault has been estimated by JVL Industri Elektronik A S as 1 38e 10 per hour IEC61508 IEC62061 IEC61800 5 2 or 4 29e 8 per hour ISO13849 and assessed by the independe...

Page 73: ...5 2 IEC 60204 1 Safe Torque Off STO Stop Category 0 Safety performance ISO 13849 1 Category Cat 3 Diagnostic Coverage DCavg 98 5 Medium Mean Time to Dangerous Failure per channel MTTFd 100 years High PFHd 4 29e 8 h Performance Level PLe IEC 61508 IEC 62061 IEC61800 5 2 Safety Integrity Level SIL 3 SIL CL3 Systematic capability systematic integrity level SIL 3 Probability of Dangerous Failure per H...

Page 74: ... Relevant failure modes 1 The STO trips spuriously safe failure 2 The STO does not activate when requested The analysis is based on an assumption that one failure occurs at one time No accumu lated failures have been analyzed The conclusion gives that no single dangerous failures can remain undetected and therefore the motor will always go to safe state in case of one dangerous failure at a time R...

Page 75: ...voltage PELV or SELV STO A 24 V DC max 10 mA STO B 24 V DC max 10 mA STO input ON voltage min 5 V STO input OFF voltage max 2 V STO input absolute max rating 60 V Conductor type Multi conductor shielded cable Conductor size 24 AWG Strip length 10 mm Category Specification Ambient temperature 0 40 C Storage temperature 40 70 C Relative humidity 5 93 non condensing Shock 15 g 30ms EN IEC 60068 2 27 ...

Page 76: ...76 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS17x 23x 34x 43x ...

Page 77: ...JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS17x 23x 34x 43x 77 4 Using MacTalk ...

Page 78: ...ly voltage input status etc Changing protection limits such as position limits Saving all current parameters to PC Restoring all parameters from PC Saving all parameters permanently in the motor Updating the motor firmware or MacTalk software from the internet or a file The main window of the program changes according to the selected mode thus only showing the relevant parameters for operation in ...

Page 79: ...r will remain in the actual error state Reset motor Reset the motor Same as performing a power off on operation Filter Setup For specifying the filter setup of the analogue inputs STOP motor Stops the motor immediately using a controlled deceleration ramp and puts the motor into passive mode If a program is present this is stopped as well This button shall be considered a functional stop button an...

Page 80: ...ssage box appears If the user decides to go offline the following text box is presented Pressing OK disconnects the motor from the PC application and all data can be edited without any interruption in the motor The complete motor setup can be saved to PC or opened from PC and transferred to the motor Saving and opening a file over a network is also possible The setup files use the extension MAC By...

Page 81: ...ith the motor simply press the Go Online button and if any data has been changed a warning box appears enabling the user to save current data before re establishing communication with the motor as this will overwrite existing data in MacTalk If data is changed in MacTalk the user is warned that current data in MacTalk may be overwritten and needs to be saved The following warning box is presented ...

Page 82: ... with all I O signals connected Active level for the I Os can be chosen to high or low on inputs Selection if it shall be Inputs or Outputs Dedicated Outputs Selection for outputs In position In Physical Position Error output It can also be selected if the pulses generated shall be used internally externally or both and which output should be used for pulse and direction signals Dedicated Inputs S...

Page 83: ... run to position P2 using velocity V2 acceleration deceleration A2 running current T2 using only a one byte command These values are not updated automatically To update place the cursor at the specific register value to the left of the box for new values and click Otherwise they only update at motor reset or power up When relative moves are made using the MOVE command it uses the Position 1 P1 reg...

Page 84: ...34x 43x 4 1 Using the MacTalk software 4 1 7 Advanced Screen 4 1 8 Test Screen This screen is used for adjusting the Zero search sensor to the correct position when us ing the index pulse of an encoder The index pulse should be in the green area If not the sensor has to be adjusted ...

Page 85: ...le yet The Scope function is an excellent and necessary function for testing a new application or finding errors in an existing system The Setup has to be selected to set up the Scope function correctly before use Most reg isters in the MIS motors can be selected for viewing different trigger functions can be selected saving and loading scope pictures is possible etc ...

Page 86: ...st on the JVL server If a newer version exist it will automatically be downloaded and the release notes can be seen in the window Step 3 Press the button to download Download Install the selected latest MacTalk The progress counter will now rise from 0 to 100 The new version is now located in the same directory as the MacTalk which was installed in the first place The old version is automatically ...

Page 87: ...will erase the existing user setup of the motor Use the Save button to save the existing setup before updating the motor Then choose the in the menu Update Firmware Updates Step 2 The first list shown is only the newest firmwares related to the actual motor connected It may also contains encoder and or Ethernet firmware if these features are present To see all files also older versions enable the ...

Page 88: ...own is only the newest encoder firmwares related to the actual motor connected It may also contains main and or Ethernet firmware if these features are present To see all files also older versions enable the checkbox Show all files Select the desired firmware SMC encoder firmware Start Press to download the selected firmware The progress status counter will now rise from 0 to 100 Step 3 When the d...

Page 89: ...JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS17x 23x 34x 43x 89 4 5 How to get SW HW motor info ...

Page 90: ...90 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS17x 23x 34x 43x 4 5 How to get SW HW motor info ...

Page 91: ...JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS17x 23x 34x 43x 91 5 Description of functions ...

Page 92: ...tep clock input the current is automatically switched back to Standby current Values for the two currents are typically adjusted so that the Operating Current is signif icantly higher than the Standby Current since the motor must be supplied with more power to drive its load during acceleration and constant operation than when it is sta tionary 5 1 1 Standby current considerations The main reason ...

Page 93: ...bout Standby Current MIS171 MIS173 MIS176 Unit Standby Current 0 4000 0 4000 0 4000 mA RMS Running Current 0 4000 0 4000 0 4000 mA RMS Holding Torque 0 0 36 0 51 0 0 56 0 79 3 0 0 8 0 113 3 Nm Oz In Standard torque versions High torque versions MIS231Q or MIS231S MIS232Q or MIS232S MIS234Q or MIS234S MIS231T or MIS231R MIS232T or MIS232R MIS234T or MIS234R Unit Standby Current 0 6000 0 6000 0 6000...

Page 94: ... In position window as shown below no further action is taken If the difference is larger than the value in the In position window the motor will try to correct the position by doing a new motor movement The Max number of retries is the number of times the motor will try to correct the position and the Settling time be tween retries is the time the motor will wait between each retry The AutoCorrec...

Page 95: ...rrection is done Can be useful when Ethernet or other protocol is used since the main velocity register can be overwritten with a velocity value which is not optimal for auto correction Max number of retries Defines how many auto correction retries that are allowed to be done Settling time between retries Defines defines the time between the auto correction retries Update the In Physical Position ...

Page 96: ...ysical Position flag is now updated continously but the In Position Window is only set to 1 count which is a very narrow window and the flag is only set when the motor is settled completely The In Physical Position flag is updated continously and the In Position Window is only set to 5000 counts which is a more realistic window The window is however often trespassed so the flag will be a bit unsta...

Page 97: ...4 InPositionCount is none zero so Auto Correction is enabled the value in this register de fines how many milliseconds to wait after each movement attempt before testing whether the en coder position is within the target window as de fined in register 33 This waiting time is often necessary to allow mechanical oscillations to die out See also Settling Time page 210 R124 SETUP_BITS MacTalk name Upd...

Page 98: ...have the ability to run in closed loop and therefore always tracks the rotor displacement in real time The control algorithm aligns the commutation angle and motor current when need ed This avoids that the motor is stalling and runs the motor at a lower current when pos sible with the advantage that the overall system efficiency is much better The closed loop offers 2 ways of operation 1 Closed lo...

Page 99: ...5 3 Closed loop operation 5 3 2 Examples of motor behaviour in closed loop Example 1 A too high acceleration has been set The motor cannot accelerate the load fast enough and therefore a follow error will be incremented until the motor is able to maintain the right speed Only MISxxx H2 H4 ...

Page 100: ...e sure that the motor do not stall and loose track of its position The disadvantage is that the motor becomes hot and energy is wasted When running in closed loop loss of position motor stall is not a concern and therefore the control algorithms current control will if enabled adjust the current to a level where the motor is able to follow the requested velocity and not loose the position The actu...

Page 101: ...e Running current register which is found at the main tab in the left side Notice that when using the closed loop current control feature only the Running current setting is used The Standby current and Standby time setting is not used at any time Only MISxxx H2 H4 Running current can be set here Standby current and Standby time is not used when current control and closed loop is enabled TT2370 01...

Page 102: ...produce more than 100 and also have to respect the user current setting The follow error still increases because the load on the shaft exceeds the available torque In the last part of the cycle the load is lowered and when the position error becomes be low 2048 counts 1 full step the current is also proportionally decreased by the control algorithm and it settles at the same level as before the in...

Page 103: ...deactivated on the fly and have immediate effect Default inactive Enable current control Check this field to add current control The current control will increase decrease the current proportional to what is needed for driving the motor load Can be activated de activated on the fly and have immediate effect Default inactive Allowable over speed 0 100 and Follow error before overspeed Allows the mo...

Page 104: ...control activated at the same time the actual torque can be monitored The actual torque read out is based on the actual motor current as a percentage of the Running current setting In MacTalk it is labelled Actual torque Its monitored among the other motor status val ues in the right side of the main screen The Actual torque is defined from how many percentage of the Running current that is used O...

Page 105: ...loop error Bit 14 Abs single turn encoder H2 H4 error See also Err_Bits page 201 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 Setup_Bits page 213 R217 ACTUAL_TORQUE The actual motor current in closed loop ...

Page 106: ...anced registers None of the below shown registers are accessible from MacTalk but only from other protocols such as Ethernet Modbus CANopen etc The registers shown below are all related to optimizing the current control performance R212 CUR_SCALE_MAX The maximum allowable current 2047 100 of Running current See also CUR_SCALE_MAX page 227 its recommended not to use this parameter Bet ter change th...

Page 107: ...d at 3000 RPM The start value and the slope can be modified with the registers CUR_SCALE_INC CUR_SCALE_DEC and CUR_SCALE_FACTOR The default values are already optimised to give the best overall performance on all ve locities some other values could be better for at specific velocity How to calculate how the registers affect the timing at a specific velocity RPM The increment timing is independent ...

Page 108: ...vement have been made on newer motors having a serial number la bel at motor will tell SN173000 Before and after serial number 173000 the MIS motor therefor have a different functionality Motors with a serial number SN173000 auto matically saves the position every 1 second 5 4 3 Setup position backup using MacTalk The available options when using the absolute position backup feature is available i...

Page 109: ...ense when the H3 en coder option is installed since it will fully take care of tracking the position including multiturn in case power is not applied to the motor Encoder type Setup in MacTalk None H2 H3 H4 P_IST 0 0 0 0 0 Absolute Singleturn Encoder 0 0 409599 Only single rev position restored Invalid not available 0 409599 Only single rev position restored Absolute Multiturn Encoder Last stored ...

Page 110: ...3x Serial numbers 173000 or HW V1 5 See also How to get SW HW motor info page 89 to obtain this information The absolute position backup system is active all the time and is saving the absolute multi turn position data once every second This feature is based on a relatively new memory technology called FRAM Ferroelectric RAM and no battery backup is involved If suddenly the supply power is removed...

Page 111: ...tance Voltage must be meas ured after power up before the flash erase operation is started The count is in units of 1 ms Register 124 SetupBits selects to use Flash based Absolute Multi turn Encoder functionality when bit 11 is set All data storage done by the absolute position backup function can also be monitored in the event log see also Reading the Event log page 168 Only MISxxx H2 ...

Page 112: ...l A and B Link to description Internal encoder H2 H4 signals page 113 2 Quadrature signals from the internal pulse generator is sent to the multifunction chan nels Link to description Quadrature signals from the internal pulse generator page 113 3 Same as 2 but in pulse direction format instead of quadrature Link to description Pulse direction signals from the internal pulse generator page 114 5 5...

Page 113: ...output interface 5 5 3 Quadrature signals from the internal pulse generator The internal pulse generator has a resolution of 409600 cpr 20 MHz at 3000 RPM but for the output channel it is scaled by 16 in order to limit the max output frequency to 1 28 MHz at 3000 RPM Set register 223 to 4626 Set register 222 to 4160 Then set the internal pulse generator to quadrature format Which can also be done ...

Page 114: ...d by 16 in order to limit the max output frequency to 1 28 MHz at 3000 RPM Set register 223 to 4626 Set register 222 to 4160 Then set the internal pulse generator to pulse direction Which can also be done without MacTalk R124 SETUP_BITS A general setup register for many settings in the motor Only bit 2 and 3 are used for this setting all other bits must not be changed This table shows how the comb...

Page 115: ...egister 137 bit 0 7 InPos_Mask See also Inpos_Mask page 216 Function at output When the motor is running the output will be inactive When the motor has reached target position and is at stand still the output will be activated 5 6 3 In Physical Position Output Only valid for H2 H3 H4 options This signal can be used only if the MIS motor is equipped with an internal encoder H2 H3 or H4 or an extern...

Page 116: ...d by one of the user outputs The output goes high when the brake is released and it goes low when the brake is en gaged This is controlled automatically at the switch between an active mode Position Velocity Gear Zero search and Passive mode motor not powered This selection is done in MacTalk or by setting a bit in register 179 See also the chapter Electro Mechanical brake page 136 ...

Page 117: ...tor overview for the MIS motors page 37 The function of the signals is as follows Line A1 and A1 transmit a clock signal to the SSI device Line B1 and B1 receives the data stream from the SSI device 5 7 2 Setup and operation of the SSI function when using MacTalk When using the MacTalk Windows program supplied by JVL the following descriptions must be used In order to setup for SSI support 2 codes...

Page 118: ...heet for the actual SSI device concerning which value to be used Field Prepare time Clk to Data A typical SSI device needs a so called prepare time to sample the position data before transfer This field is dedicated to type in the prepare time in micro seconds at the start of an SSI transfer The valid range is 1 to 255 corresponding to 1 to 255 micro seconds Set this value according to the actual ...

Page 119: ...ry is attempted if number of retries has not exceeded the Read Retries value Sample x Sample x 1 Max_sample_deviation OK Sample x Sample x 1 Max_sample_deviation ERROR If the number of retries has exceeded the Read Retries value and the measurement still reports an error the reading will be discarded and SSI Encoder value still shows the last correct measurement An error bit will be set in the ERR...

Page 120: ...0001 1 10000 25 1 0 0027 sec 2 7ms Note If noise have affected the signal the time before valid data is presented will be longer Depending on the specific setting for the data validation function The position data from the encoder is presented in register 47 as shown below TT2482 01GB 31 30 29 28 27 26 25 24 23 22 Position data available as a signed 32 Bit integer Register 47 EXTENCODER External e...

Page 121: ...y high When a reading is requested the clock goes low for t1 micro seconds see illustration above to allow the encoder to sample and prepare a val ue On the first rising edge of the clock 1 no sampling is done but on the second rising edge of the clock 2 the first data bit is read from the data line Shortly after reading the bit value the MISxxx SMCxx will set the clock high and execute another cy...

Page 122: ...t do however offer the advan tage to keep track of the position without power applied The magnet principle is also much more tolerant to mechanical stress such as shock and extreme temperatures The absolute multi turn option offers the following main features Encoder Resolution 409 600 counts per revolution displayed internal 1024 cpr Accuracy 0 1 of full scale Repeatability 0 1 of full scale Posi...

Page 123: ...ion compared to the actual physical position of the motor and its load This operation is recommended to do in the following manner 1 Set the motor in a known position 2 Insert the corresponding position value as shown below 3 Press the Set position button to preset the new position value 4 The encoder position and all other relevant position registers are now preset with the new value No further a...

Page 124: ...n position window the motor will try to correct the position by doing a new motor movement The Max number of retries is the number of times the motor will try to correct the position and the Settling time be tween retries is the time the motor will wait between each retry See also Position Auto correction page 94 Only MISxxx H3 H4 TT2338 02GB When selected the in position ag will realtime indicate...

Page 125: ... new encoder position Write the new encoder value to register 144 P_NEW and afterward write 316 into the register 24 Command reg Notice that this value must match the motor resolution which means 409600 counts per motor revolution Optionally the desired position value P_SOLL and P_IST can be set to the same position by writing the value 119 to the register 24 Command reg 5 8 5 Updating the Encoder...

Page 126: ...ion from the battery when the mo tor is not externally powered is max 1 5μA The curves below shows what is considered as a worst case scenario for the retention time The curves are based on 40 and 85 degree celsius 108 185F without any exter nal power applied to the motor meaning that the internal battery have to supply cur rent to the encoder circuitry all the time The current consumption of the ...

Page 127: ...stions Q1 How can i see the status level of the internal battery A1 Sorry but not possible in the present hardware version Q2 What happens if the internal battery is empty A2 The absolute position will not be retained but the motor can still function The error Encoder lost position will however be reported See also Error message Encoder lost position page 172 for details how to reset the error If ...

Page 128: ...to IO8 can be used as limit inputs The input can be set from MacTalk or via register NL_Mask page 214 or PL_Mask page 215 Positive limit PL Activation of the Positive limit PL Input will halt motor operation if the motor is moving in a positive direction The motor can however operate in a negative direction even if the PL Input is activated Negative limit NL Activation of the Negative limit NL Inp...

Page 129: ...d to be cleared and a mode have to be re entered in order to move the motor in the opposite direction away from the limit point The motor will stop No error is reported and the motor can immidately be moved in the opposite direction without further action Negative Limit switch activated here when motor moves in negative direction Velocity unsigned Position Relation between limit switch inputs and ...

Page 130: ...eters is 0 meaning that the feature is disabled Notice that if one of the parameters are different from 0 both values are activated Positive Position Limit PLS When the motor is moving in a positive direction in position mode or gear mode the mo tor will stop at Position Limit Max In velocity mode the speed will internally be set to 0 when passing Position Limit Max causing the motor to decelerate...

Page 131: ...opposite direction away from the limit point The motor will stop No error is reported and the motor can immidately be moved in the opposite direction without further action Position Limit minimum Velocity Mode Position and Gear mode Velocity unsigned Position Relation between software limits and the motor behaviour 1 1 2 2 2 Function when the motor is in The motor will move until it reaches the li...

Page 132: ...t This can be done by setting the DisableErrorOnTravelLimit bit in the SETUP_BITS register See Setup_Bits page 213 When the NoErrorOnPositionLimit bit is set the motor decelerates with the Error de celeration on travel limits in all modes and on position limits in velocity mode The nor mal acceleration is used on position limits in position and gear mode 5 9 6 Simple mode Position limits without m...

Page 133: ...t the motor back in normal operation the error must be cleared and an op eration mode must be selected If this function is activated it will have first priority and the Error deceleration will be used compared to the 2 other options Under voltage Stop controlled and go to passive and Under voltage Set velocity to 0 which both use normal deceleration Under voltage Stop controlled and go to passive ...

Page 134: ...pper Motors MIS17x 23x 34x 43x 5 10 Under voltage Handling 5 10 1 Setup with MacTalk The 3 options that define the behaviour of the motor when P bus voltage is lower than what is set in the Min bus voltage field can all be accessed from MacTalk as shown be low ...

Page 135: ...s 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 the under voltage feature are R98 MIN_BUSVOL The voltage level that defines when an under voltage situation is present at the P main power See also Min_Busvol page 206 R124 SetupBits SetupBitsThe 3 bits that define what action should be taken in...

Page 136: ...also possible to connect an external brake via one of the user outputs I O1 to 8 5 11 2 Brake timing The brake is always active in Passive mode because the motor has zero torque When changing to an active mode the standby current is applied and the brake is disabled The brake needs some milliseconds to release and therefore there will be a short delay typ ically 40 ms before the motor can move The...

Page 137: ...gister makes it possible to disable the brake so that the motor can run freely re gardless which mode or condition the motor is in The other makes it possible to verify if the brake is active or passive 5 11 5 Access from MacTalk A field named Disable brake at the main tab in MacTalk makes it possible to disable the brake In the status bar at the right side its also possible to see whether the bra...

Page 138: ...t 14 in this register monitors the actual brake status If Bit14 is 0 the brake is not active motor can run freely and if bit 14 is 1 the brake is active and keeps the motor in position Notice that other bits in this register are used for other purpos es See also Status bits page 198 R124 SETUP_BITS MacTalk name Disable brake Bit 19 in this register set to 1 will disable the brake which will al low...

Page 139: ...g in the same position for any length of time Notice that when using the H3 or H4 encoder option the total po sition range must be within 231 231 1 counts from the initial zero position When using the H2 encoder option there is no restrictions The general idea is to define a range of positions by a Minimum and a Maximum value that can be freely selected within the normal position range of the moto...

Page 140: ...150000 Target postion 1000 Result Actual position P_SOLL 0 since the value is limited to the working range minimum Setup Start position 250000 Target postion 12345678 Result Actual position P_SOLL 409599 since the value is imited against the working range maximum In general Actual position P_SOLL will be modified to be within the valid rotary table position working range if a value outside this ra...

Page 141: ...ing range can be defined here after selecting the type of turn table mode Minimum is the lowest position possible to reach and maximum is the highest position that can be reached Both in encoder counts Both values are refering to the zero position found during the optional zero search or alternatively the zero point defined if using an absolute multiturn encoder After the setup is done please reme...

Page 142: ..._P_IST Sets the maximum position for the Turn Table working range Note that the firmware will swap the min and max values if the minimum is larger than the maximum at startup Register 126 TURNTABLE_MODE The value of this register defines the Turn Table Mode Important Please remember to save the setup in permanent memory save in flash be fore the setup is applied and used by the motor Mode Operatio...

Page 143: ...hin the valid Turn Table position working range if a value outside this range is written to P_SOLL Register 10 P_IST Actual position is the actual motor position and stays within the min and max limits defined Register 27 TURNTAB_COUNT Is a counter that keeps track of wrap arounds since the last reset of the motor This register can be written to another value by the user at any time Register 46 AB...

Page 144: ...selected Register 25 P_IST_TURNTAB is still updated to show the actual position relative to the Turn Table position range even while P_IST gets outside MIN_P_IST or MAX_P_IST One common way to do manual adjustment of the motor is to make a JOG function by using Velocity mode After a JOG function the P_IST may be left outside the Turn Table position range so switching back to Position mode may caus...

Page 145: ...olled using MacTalk software or by setting register 3 P_SOLL using serial or program commands Gear mode The motor position and velocity can be controlled by pulse and direction or encoder signals at IN1 and IN2 The gear ratio can be set to a large ratio using register 14 GEAR1 and register 15 GEAR2 Zero search mode type 1 type 2 and torque Searches for sensor to define a zero position Reference po...

Page 146: ... controller will start up in passive mode This means that it is possible to communicate and read write to from registers but no current is supplied to the mo tor It should thus be possible to turn the motor shaft as no voltage is connected to the motor If there is encoder feed back the encoder counter will always register the cor rect position ...

Page 147: ...x 147 6 2 Velocity Mode 6 2 1 Velocity Mode In this mode the QuickStep motor controls the motor velocity via the Max Velocity set ting This mode is typically used for simple tasks or for applications in which an overall unit such as a PC board or PLC controls velocity and positioning ...

Page 148: ...he motor via commands sent over the se rial interface Various operating parameters can be changed continuously while the mo tor is running This mode of operation is used primarily in systems where the Controller is permanently connected to a PC PLC via the interface This mode is also well suited for setting up and testing systems The mode is also used when programming is done ...

Page 149: ...tor also provides a facility for electronic gearing at a keyed in ratio in the following intervals MIS17x 23x 34x and 43x 1 2147483647 to 2147483647 1 Example A MIS231 motor has a resolution of 409600 steps rev and an encoder is connected which has a resolution of 2048 counts rev If one revolution of the encoder should result in one motor revolution the Input must be set to 2048 and the Output to ...

Page 150: ...at the pulse input do not have any effect 2 Quadrature control When selecting this format 2 square wave signals channel A and B 90 degree phase shifted is applied to 2 inputs Each transition count at the A or B channel will cause the motor to move with a certain ratio length according to the gear registers input and output described at the previous page see Gear Mode page 149 The formats can be se...

Page 151: ...rt pins mentioned above only operate at 5V lev els and it is destructive if voltages outside the voltage range 0 to 5V is applied 6 4 4 Single ended signals If the external encoder signals are only available as single ended and with voltage levels up to CVO typical 24V it is possible to use IO2 3 as inputs To make this change a small RxP program is required in addition to the settings in Signal fo...

Page 152: ...is strongly recommended that shielded cable is always used when connecting the ex ternal pulse source to the pulse input to ensure that no noise from the surroundings af fect the quality of the signal and worst case cause the motor movement to get affected Also a good solid ground wire between the motor and the source is recommended since any differences in the potential between the pulse source a...

Page 153: ... stay stable and well defined in the indicated period while the clock has a rising edge Step occurs on the leading flank Motor moves CW when direction is high 1 and CCW when low 0 Min 400nS A1 A1 GND 1 1 0 0 Incremental encoder or similar RS422 outputs balanced RS422 inputs balanced E E Level definitions Logic 0 Diff 200mV Logic 1 Diff 200mV Common mode range 5 to 12V maximum Twisted pair cable wi...

Page 154: ... velocity and acceleration set to low values TT2468 01GB Motor steps counts In total 80 steps moved Motor Direction Motor Velocity Slave Input position Master Motor position Slave Input clock In total 80 steps received Time Position Target 1 step All clocks received at a fixed rate No acc speed or decel control is included The input clock demand a prompt high speed but the motor has to respect the...

Page 155: ...put clock In total 80 steps received Time Position Target 1 step Minimum position error The master that produce the input clock to the motor takes care of producing acceleration Since the acceleration register in the motor is set to a high value it will not limit the demanded acceleration 0 0 CW CCW Velocity Relation between input and the motor behaviour when setting the velocity and acceleration ...

Page 156: ...to Pulse input and Input type is set to Pulse direction in order to decode the input signal The pulse signal is con nected to the 2 pulse input terminals See also How to connect the pulse source page 151 The MAC motor is replacing a step motor system with 400 steps per revolution which means that when the pulse source produce 400 pulses it expects the MIS motor to rotate one revolution The MIS mot...

Page 157: ... the sensor is activated is defined as the zero Power up Sensor type 2 Like above Sensor type 1 but after the sensor is activated the direction of movement is reversed and the point at which the sensor is disabled is defined as zero Power up Torque Only available with H2 H4 encoder installed and with Closed loop and Current control enabled Please see 5 3 Closed loop The Zero search will start sear...

Page 158: ...d must be executed within the program to execute a Zero search The MIS motor s zero search facility is very flexible The inputs for reference and limit switches must be set up correctly before use The active levels must also be set up correctly 6 5 3 Set up the I O s for zero search Important information Each of the 8 pins can be defined as inputs or outputs The ac tive digital input level for eac...

Page 159: ...be be different from 0 or the motor enters passive mode ignore the reference switch input and use the actual position or index pulse as zero position before using the zero search position TT2478 01GB Select this if it is desired to change direction when the limit switch is met Otherwise the motor will make a mechanical collision The final zero search point is found on the back side of the zero sea...

Page 160: ...d Zero search started Zero search position Zero search velocity is an optional offset See description in other chapter defines the velocity used during Zero search The sign of the specified velocity defines the zero search direction Sensor status Select the mechanical zero search mode using this field Select the mechanical Zero search format in this menu TT2187 03GB When the zero search sensor is ...

Page 161: ...ollision point is as stiff and well defined as possible When the torque rises higher than the value specified in the field the speed will Zero search Torque drop to zero And the actual position is set to the value specified in Zero search position Zero search started Zero search position is an optional offset This position is preset to the position counter after the zero point is found Zero search...

Page 162: ... power up or initiated by a command from the serial interface 2 The basic Zero search is completed and the position counter is set to the value spec ified in the Zero search position field 3 If the zero search position value is different from position the motor will now move to position 0 4 The zero search is now complete and the motor will switch to normal operation i e the mode selected in the S...

Page 163: ...ffset with this value See also P_Home page 203 R40 V_HOME MacTalk name Zero search velocity The velocity to use during zero search Set a negative velocity to search in the negative direction See also V_Home page 203 R41 T_HOME MacTalk name Zero search torque 0 100 The measured torque where the zero search must end See also T_Home page 203 R42 HOMEMODE MacTalk name Zero search mode Selects the zero...

Page 164: ...TIMEOUT page 232 Zero search advanced settings R122 Zero_Search_BITS MacTalk names multiple see below Use index after zero search bit 0 Change direction on position limit bit 1 Find opposite side of sensor bit 2 Ignore switch bit 4 Disable zero search timeout bit 5 Explanation of the individual bits see Advanced settings page 159 See also Zero_Search_Bits page 212 Zero search I O setup R125 IOSETU...

Page 165: ...JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS17x 23x 34x 43x 165 7 Error Handling ...

Page 166: ...rror occurs it can be convenient to use a controlled deceleration instead of a sudden stop If the inertia in the system is high and the mechanical parts are weak a sud den stop can cause damage and unintended behaviour Use this parameter to define the deceleration used during a fatal error Default is 0 meaning that the feature is disabled Min bus voltage This is the level of P at which the motor g...

Page 167: ...up in the right side of the MacTalk screen Some errors can be cleared by pressing the Clear Error button Other errors are fatal and need other actions For example will a temperature error not be possible to clear before the temperature is lower than what is accepted The next pages describe every error including cause for the error and how to solve the error situation ...

Page 168: ...s possible to monitor all the saved data This tab shows the total amount each error has occurred the last 20 errors with time stamps total amount of revolutions the motor has run during the entire lifetime etc The motor do not have a real time clock so all time stamps are based on the active time where the motor has been powered also showed as Up time ...

Page 169: ...the Follow error Please notice that 1 revolution is 409600 counts Make sure that the Running current register 7 is set high enough to avoid step loss or stalling In Passive mode the shaft can be moved freely to check that the encoder is counting properly 1 revolution should make 409600 counts Looking at the front of the motor the positive counting di rection is clockwise How to return to normal op...

Page 170: ...e I O setup tab See also Dig ital input filter setup with MacTalk page 23 How to return to normal operation Clear the error bits in register 35 Return to the desired active mode It is now only possible to run the motor in the opposite direction of the limit Reset the motor Cycle the power Error bit Firmware name Bit 3 Message no Message 4 Low bus voltage Type Motor action Unrecoverable error Motor...

Page 171: ...t in Passive mode Error condition The temperature has been higher than 90 C 194F which is not al lowed Possible cause of this error The ambient temperature is higher than allowed max is 40 C 104 F The motor is build into an environment where it can not dissipate enough heat The motor is not mounted on a proper mechanical structure where heat can be dissipated Solutions to avoid error Make precauti...

Page 172: ... clear the error bit s in register 35 or cycle the power If the battery level is low this error will re appear every time after power has been off for a while In that case the motor must be returned for service A the cause have been a encoder firmware update from an older version an encoder calibration may probably rescue the motor from this error state See Procedure to calibrate encoder page 354 ...

Page 173: ...w to return to normal operation This error will only be set during startup and can be cleared afterwards Then the motor operation will be the same but the multi turn encoder will not work Clear the error bit s in register 35 Error bit Firmware name Bit 10 Message no Message 11 External encoder Type Motor action Unrecoverable error Motor is set in Passive mode Error condition An external SSI encode...

Page 174: ...f Error bit Firmware name Bit 12 Message no Message 13 External memory Type Motor action Unrecoverable error Motor is set in Passive mode Error condition The controller has build in memory for the Event log Possible cause of this error The memory self test has failed because of faulty hardware inside the motor Solutions to avoid error Return the motor for service How to return to normal operation ...

Page 175: ...e error bit s in register 35 If the Safe Torque Off error is still present the STO circuit has a hardware fault and the motor must be sent to JVL for inspection Error bit Firmware name Bit 27 Message no Message 16 Zero search timeout Type Motor action Error Motor is set back in previous mode Error condition Zero search have taken longer than allowed Possible cause of this error The collision point...

Page 176: ... high level of noise such as supply cables to large motors or ultra sound welders How to return to normal operation Cycle power Make a software reset Error bit Firmware name Bit 17 Message no Message 18 Motor driver overload Type Motor action Unrecoverable error Motor is set in Passive mode Error condition A too high current in the motor windings have been detected Possible cause of this error The...

Page 177: ...JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS17x 23x 34x 43x 177 8 Registers ...

Page 178: ... 2012 and 2014 hex with the sub index equal to the register number 1 255 Use index 2012 for the 32 bit registers and index 2014 for the 16 bit registers For example to access all 32 bits of P_SOLL use index 2012 subindex 3 To access 16 bits of V_SOLL use index 2014 subindex 5 This is described in more detail in CANopen optional page 267 All of the registers can be accessed over CANopen with the sa...

Page 179: ...tion 7 RUN_ CURRENT 32bit R W 0 1533 511 C 5 87 mA B 3 91 mA A 1 96 mA Current to use when the motor is running The unit depends on the driver C 9 A B 6 A A 3 A Running Current 8 STANDBY_ TIME 32bit R W 1 65535 500 ms Number of milliseconds before changing to standby current Standby Time 9 STANDBY_ CURRENT 32bit R W 0 1533 128 C 5 87 mA B 3 91 mA A 1 96 mA The standby current The unit depends on t...

Page 180: ... closed loop Bit 18 Standby current is used Bit 19 STO enabled Bit 20 Internal encoder ok Bit 21 Ethernet sync activated Bit 22 In target position Bit 23 STO channel A ok Bit 24 STO channel B ok Bit 25 31 Reserved Run Status 26 TEMP 32bit R 2 27 uses offset Temperature measured inside the motor See the detailed description for information on the value scaling Temperature 28 MIN_P_IST 32bit R W 231...

Page 181: ...f active Warnings 37 STARTMODE 32bit R W 0 1 2 3 0 The motor will change to this mode after power up This is also the mode that is used after a zero search is completed See MODE_REG for a list of possible modes Startup mode 38 P_HOME 32bit R W 231 231 1 0 Steps The found zero point is offset with this value Zero search position 39 Reserved intended for 64 bit P_HOME hi word 40 V_HOME 32bit R W 300...

Page 182: ...of the ConfMin Max MaxSlope and Filter registers Bit 15 Set when values have been copied and used N A handled on the Filter Setup screen 101 AFZUP_ ReadIndex 32bit R W 0 1 8 32768 32775 0 Special Bits 0 7 Index 1 8 of the analog input whose ConfMin Max MaxSlope and filter values to load into the corresponding AFZUO_xxx registers for read back Bit 15 gets set after the registers have been updated N...

Page 183: ...ial Bits to control Zero Search Bit 0 Search for index Bit 1 Change direction on limit Bit 2 Search for opposite side of sensor Bit 3 Reserved Bit 4 Ignore switch Used for searching only for index Bit 5 Disable the 60 s Zero Search time out Advanced Zero search 124 SETUP_BITS 32bit R W 0 Special Bit 0 Invert motor direction Bit 1 Don t start program after power up Bit 2 3 External encoder input ty...

Page 184: ...ERROR_MASK 32bit R W 0 IO Mask Output mask for error output Dedicated outputs Error 139 ACCEPT_VOLTAGE 32 bit R W 2052 8 764 mV The voltage that must be measured before the current status log is erased Acceptance voltage 140 ACCEPT_COUNT 32 bit R W 100 Counts The number of times the ACCEPT_VOLTAGE must be measured before starting the processor Acceptance count 141 SAVE_VOLTAGE 32 bit R W 1710 8 76...

Page 185: ...he max current to the motor N A 159 BOOTLOADER_VER 32bit R 0 65535 Major 16 Minor The version of the boot loader Tooltip on motor 160 NOTSAVED 32bit R W 0 65535 0 This register is not used internally but will always be 0 after power on Please notice that MacTalk uses this register N A 165 OPTIONS_ BITS 32bit R 0 65535 This register contains information about what options that are available Bit 0 7...

Page 186: ...it R W 0 232 1 10 ms Time the motor must stand still before InTargetPosition flag is set N A 179 BRAKE 32bit R W 0 232 1 Special Selects which one of the eight I O pins to use for the external brake N A Reg Name Size Access Range Default Unit Description MacTalk name The following parameters are only available when the CanOpen option is installed and only used for DSP 402 NOTE DSP 402 is NOT suppo...

Page 187: ...t N A 222 XFIELD_ADDR 32bit R W 0 Special Address for the internal switch board cross field setup N A 223 XFIELD_DATA 32bit R W 0 Special Data for the internal switch board cross field setup N A 224 231 FlexRegSetup 32bit R W 0 Each register in this range sets up 2 bits in the FlexRegister 48 16 bits in total N A 232 FlexLEDSetup1 32bit R W 0 Sets up LED L3 and L2 on the motor N A 233 FlexLEDSetup...

Page 188: ...it 0 7 Allowable overspeed in percent 0 100 Bit 8 31 Follow error limit before overspeed is used Allowable overspeed Follow error before overspeed 246 TEMP_HIGHRES 32bit R C 1000 Like register 26 but the measured temperature is in full resolution and presented in degree celcius x 1000 Temperature 252 LOWBUSCVI_CNT 32bit R W 10 Counts Number of times in a row the voltage can be too low before error...

Page 189: ...pe is SMC75 or SMC85 Bit 0 3 is the minor version and bit 4 12 is the major version Bit 13 is set if the actual firmware is a beta version not officially released Bit 14 to 23 indicate the overall motor type For specific motor type see also the register Motor type page 220 Detailed description of the individual bits Reg Name Size Access Range Default Unit MacTalk name 1 PROG_VERSION 32bit R Status...

Page 190: ...and V_START during a movement but the changes will first take effect after the motor has stopped Please note that if the motor needs to change direction it will decelerate and stop and the new A_SOLL and V_START will be activated Position mode 2 When the motor is in position mode the controller will always try to move until P_IST P_SOLL The movement will follow the profile specified by V_SOLL A_SO...

Page 191: ... Zero search type 2 14 When the operation mode is set to 15 the controller will start the search for the zero point See Sensor type 2 Zero search page 160 for details Safe mode 15 This mode is similar to passive mode but also allows the save in flash and reset com mands Safe mode cannot be entered exited directly this must be done using the serial commands ENTER EXIT SAFEMODE Example Writing MODE_...

Page 192: ...tor phase but the maximum allowed current setting is dif ferent from motor to motor size The running current is active when the motor is running and after it stops until the spec ified standby time has elapsed See Standby_Time page 193 When a new value is written to the RUN_CURRENT register the new motor current will be set instantly Example RUN_CURRENT 100 will set the running current to 0 587 AR...

Page 193: ... actual position of the motor This is updated each time the motor makes a step If P_IST is changed when in position mode or gear mode the motor will move until P_IST P_SOLL When P_IST reaches 231 1 it will wrap around to 231 Example P_IST 1000 P_SOLL 1000 P_IST is set to 500 The motor will move 500 steps for ward and P_IST will again be 1000 8 2 11 V_IST Description This register shows the actual ...

Page 194: ... 50 RPM 8 2 13 GEAR1 Description When the gear mode is active the input from the external encoder is multiplied by GEAR1 and divided by GEAR2 Example 1 GEAR1 409600 GEAR2 2048 If 2048 counts are applied to the input the motor will turn 1 revolution 2 If one step is applied the motor will move 200 counts 8 2 14 GEAR2 Description The denominator of the gear factor See GEAR1 for details 8 2 15 Encode...

Page 195: ...e set using IOSETUP See IOsetup page 213 Please note that the output driver for each output also has to be enabled This is also done using IOSETUP The register can be changed in order to change the status of the outputs 8 2 18 Flwerr Description When the encoder option is installed this register shows the encoder deviation from the calculated position P_IST 8 2 19 Flwerrmax Description The maximum...

Page 196: ...ands 8 2 21 Table of FastMac commands Reg Name Size Access Range Default Unit MacTalk name 24 COMMAND 32bit R W 0 127 255 1000 0 Special command Number Description 97 FastMac 1 Clear errors and warnings 98 FastMac 2 Target position 0 P_SOLL 0 99 FastMac 3 Actual position 0 P_IST 0 101 FastMac 5 Target velocity 0 V_SOLL 0 103 FastMac 7 Clear flags In Position Acceleration and Deceleration 108 FastM...

Page 197: ...44 P_Encoder P_NEW register 144 121 FastMac 25 P_IST P_NEW register 144 P_Encoder P_NEW register 144 Number Description 257 Re sync P_IST and P_ENCODER position 267 Reset the CPU 268 Save to flash memory then reset the CPU 269 Save to flash memory then continue normal execution NOTE Some registers used only during startup Take care not to reach an infinite loop if used in RxP flash memory can be w...

Page 198: ...H3 calibration data locked Bit 14 Electromechanical brake active Int Ext Bit 15 Closed loop lead lag detected Bit also activates the L1 LED if no Ethernet or CANopen option is present Bit 16 Closed loop activated Bit 17 Internal encoder calibrated ready for closed loop Bit 18 Standby current is being used in stead of Running current Bit 19 Safe Torque Off is enabled in the motor Bit 20 Internal en...

Page 199: ...iption Position limit for movement in the negative direction The motor can be configured to stop automatically when it reaches this position The MIN_P_IST is also used when using the Turn Table Mode to define the lower posi tion limit of the turn table Please also see Turn Table Mode page 139 for detailed description Reg Name Size Access Range Default Unit MacTalk name 26 TEMP 32bit R 0 127 2 27 u...

Page 200: ...escription Selects how close the internal encoder position must be to the target Position P_SOLL to set the InPhysical Position status bit and prevent further AutoCorrection 8 2 29 IN_POSITION_COUNT Description The number of times to attempt AutoCorrection A value of zero disables AutoCorrec tion Reg Name Size Access Range Default Unit MacTalk name 30 MAX_P_IST 32bit R W 231 231 1 0 Steps Position...

Page 201: ...oder option H3 Bit 11 SSI encoder Bit 12 Closed loop Bit 13 External memory Bit 14 Single turn encoder error H2 Bit 16 Zero search has timed out Bit 17 Control voltage CVI has been too low Bit 18 Motor driver overload only available in SMC85 MIS34x MIS43x Bit 27 STO_ALARM Bit 29 STO Important Bit 27 Functional safety related The STO_ALARM will only be set if the STO self diagnostic circuit has det...

Page 202: ...e Bit 3 Negative limit has been active Bit 4 Low bus voltage Bit 5 Reserved Bit 6 Temperature has been above 80 C Bit 7 SSI encoder Bit 8 Driver overload Bit 9 Safe torque off is active These bits provide information on both the actual state and remembered state of the end position limits the supply voltage and the temperature These are used for diagnostic purposes as well as handling position lim...

Page 203: ...8 2 36 Home mode Description Selects the zero search that should start on power up A value of 13 will use sensor type 1 while a value of 14 will use sensor type 2 Select 0 default if no automatic zero search must be done after power up Reg Name Size Access Range Default Unit MacTalk name 37 STARTMODE 32bit R W 0 Startup Mode Reg Name Size Access Range Default Unit MacTalk name 38 P_HOME 32bit R W ...

Page 204: ...NCODER2 register with the actual position Example An SSI encoder outputs the position in binary We want to sample and update the EXTENCODER2 register 47 without any conver sion This can be done by use command 321 If the SSI encoder outputs the position in Gray code the value can be converted to binary before updating the EXTENCODER2 register by using command 322 instead For further description of ...

Page 205: ...red to as A1 A4 and can be used to change the acceleration in several different ways either from the user program or via the serial interfaces See also the sections on FastMac commands 8 2 43 Tn Description These four general purpose Torque registers are referred to as T1 T4 and can be used to change the Running current in several different ways either from the user program or via the serial inter...

Page 206: ...ht I Os IO 1 to IO 8 Their values are updated approximately every 1 ms To use the filtered values of the inputs for better noise immunity use registers 81 88 in stead Analogue Filtered page 206 An input voltage of 5 00 Volts corresponds to a register value of 4095 See also Analogue input filters page 26 8 2 46 Busvol Description The supply voltage inside the motor is continually measured and store...

Page 207: ... can be loaded with 255 hex FF 8 2 50 Afzup_ReadIndex Description This register makes it possible to read back the analogue input filter parameters for one analogue input at a time To select a new input write a value of 1 to 8 to this register and wait for bit 15 to be set high When bit 15 has been set by the firmware the registers 102 106 have been loaded with the filter parameters currently used...

Page 208: ...Description The final filtering of new samples on the analogue inputs can be selected using this regis ter in combination with the read and write command registers 100 and 101 The final filtered value results from taking Filter 64 of the new sample plus 64 Filter 64 of the old value and storing the result in registers 81 88 A value of 64 effectively disables this filtering so the new sample simply...

Page 209: ... in each SSI transfer Bit 5 7 Number of samples for each SSI position reading Bit 8 15 SSI clock frequency in units of 10 kHz Bit 16 28 Max sample deviation between each sample Bit 29 31 Read retries See also SSI encoder sensor interface page 117 Reg Name Size Access Range Default Unit MacTalk name 107 SSI_Setup1 32bit R W 32Bit 25bit 100kHz frequency pre pare time 100µs Number of data bits SSI Cl...

Page 210: ... define which registers are sampled All of the registers 1 255 can be sampled A value of zero in any of these four registers will cause the corresponding sample buffer to contain zeroes See registers 116 119 for more information on the sampling system 8 2 60 Rec_Cnt Description This value specifies the number of samples to take for each of the sampled registers selected in registers 112 115 This v...

Page 211: ...escription This read only register contains the maximum length of the sample buffers used to sam ple the registers selected in registers 112 115 Register 116 should never be set to a value higher than the value in this register 8 2 64 Index_Offset Description This register can be selected to receive the absolute value of the internal encoder where the Zero search home position was found during Zer...

Page 212: ...with the MacTalk protocol the 1 st sec ond after power on This way the Modbus settings can be disabled again if necessary 8 2 66 Zero_Search_Bits Description This register contains configuration bits that define how Zero search should be carried out Bit 0 Search for index Bit 1 Change direction on limit Bit 2 Search for opposite side of sensor Bit 3 reserved Bit 4 Ignore switch Used for searching ...

Page 213: ...it 19 Disable brake int ext temporarily in order to move the shaft in passive mode Bit 20 Disable SSI encoder error Motor can stay in active mode even if SSI position is wrong Bit 21 Low bus voltage gives an Error Bit 22 Low bus voltage sets the motor in Passive mode Bit 23 Low bus voltage sets V_SOLL to 0 RPM Bit 24 Enable closed loop Bit 25 Enable closed loop current control Bit 28 Position limi...

Page 214: ...26 the number of steps needed for a full rev olution of the turn table is set in this register Note that the register P_SOLL must always have a value between zero and the value in this register minus one Negative values are not allowed for P_SOLL or Turntable_Size Please also see Turn Table Mode page 139 for detailed description 8 2 71 NL_Mask Description Selects which one of the eight IO pins to ...

Page 215: ...ositive Input Limit write 27 128 to this register 8 2 73 Home_Mask Description Selects which one of the eight IO pins to use for the dedicated function of Home Input Exactly one bit must be set and the IO pin must be configured in register 125 as an input Example If input 2 is to be used for the Home Input write 21 2 to this register Reg Name Size Access Range Default Unit MacTalk name 130 PL_MASK...

Page 216: ...sk Description Selects which one of the eight IO pins to use for the dedicated function of In Position Output Exactly one bit must be set and the IO pin must be configured in register 125 as an output The In Position output will then be set after a movement has completed Example If output n is to be used for the In Position Output write 2 n 1 to this register 8 2 77 Error_Mask Description Selects ...

Page 217: ... acceptance voltage also covers that the battery is much lower than if its fully charged 8 2 79 Acceptance count Description Acceptance Count is the number of times a voltage above the acceptance voltage must have been measured before the program starts The basic idea behind this register function is to make sure that the startup is completed and the supply voltage is stable Reg Name Size Access R...

Page 218: ...n to both of these registers using FastMac command 24 8 2 83 Baud_Rate Description The baud rate on the serial port 0 9600 baud 1 19200 baud default 2 38400 baud 3 57600 baud 4 115200 baud 5 230400 baud 6 460800 baud 7 921600 baud The firmware will automatically update the baud rate after this value is changed over the serial interface RS485 once the motor has finished transmitting all data bytes ...

Page 219: ...veral motors can have the same group ID so they can be updated with new register values in parallel to save transmission time 8 2 86 Group_Seq Description The last received group write sequence 8 2 87 My_Addr Description The motor address Data communicated over the serial interface will only be accepted if the address byte in the command is either equal to this value or has the value 255 which mea...

Page 220: ...motor rotary 86 MIS430 Stepper motor rotary 90 MIS431 Stepper motor rotary 91 MIS432 Stepper motor rotary 92 MIS433 Stepper motor rotary 93 MIS434 Stepper motor rotary 94 MIS435 Stepper motor rotary 95 MIS511 Stepper motor rotary 100 MIS512 Stepper motor rotary 101 MIS513 Stepper motor rotary 102 MIS514 Stepper motor rotary 103 MIS515 Stepper motor rotary 104 MIS170 Stepper motor rotary 120 MIS171...

Page 221: ... programmed into the motor during manufacturing It re flects the rating of the hardware components Supplying a higher voltage can damage the electronics components permanently If in doubt it is strongly recommended to first supply 24 Volts and connect the motor to MacTalk In MacTalk this value can be read by holding the mouse cursor over the image of the motor in the lower right of the main win do...

Page 222: ...ed into the motor during manufacturing 8 2 95 Not saved Description This register is not used internally but will always be 0 after power on Please note that MacTalk uses this register 8 2 96 Option_Bits Description This register contains information about what options are available Bit 0 7 defines the options available in the hardware or licensed Bit 8 15 defines the options available in the firm...

Page 223: ... internal 1Mbit s Modbus channel 0 No module 0x34 EthernetIP 0x35 EtherCAT 0x36 PowerLink 0x37 Profinet 0x38 Modbus TCP 8 2 100 Ext_Encoder Description This register counts the external encoder input at the multifunction I O Reg Name Size Access Range Default Unit MacTalk name 166 FBUS_NODE_ID 32bit R W 1 127 5 CANopen Node ID Reg Name Size Access Range Default Unit MacTalk name 167 FBUS_BAUD 32bi...

Page 224: ... Internal registers 8 2 101 Ext_Encoder_Vel Description This register is updated with the velocity of the external encoder input The velocity is measured every 16ms Reg Name Size Access Range Default Unit MacTalk name 172 EXT_ENCODER _VEL 32bit R 231 231 1 Counts 16ms External Encoder Velocity ...

Page 225: ...ines the resolution i e number of counts in 1 revolution If the motor is set up to output the encoder pulses this will also be affected by changing the resolution Filter The filter can be enabled to allow resolutions above 12 bits Bit 5 set the filter Filter cutoff frequency A filter cutoff frequency on 3 kHz is recommended in the entire velocity range from 0 to 3000 RPM The cutoff frequency is co...

Page 226: ... output See also User outputs page 31 The bits have following function Example Output 4 is used for the Brake Output T_ON time is 40 ms and T_OFF is 50 ms The following string will define this shown in groups of 8 bits 00000000 00110010 00101000 00001000 in hex 00 32 28 08 Bit 0 7 Brake output mask 8 define that output 4 controls the brake Bit 8 15 Brake_T_ON Time from motor is stopped until brake...

Page 227: ...ith Current control enabled 2047 100 of RUN_CURRENT 8 2 108 CUR_SCALE_MIN Description Closed loop Minimum running current in closed loop with Current control enabled 2047 100 of RUN_CURRENT See also Special settings page 106 Reg Name Size Access Range Default Unit MacTalk name 202 TICKS 32bit R W 0 232 1 0 ms N A Reg Name Size Access Range Default Unit MacTalk name 212 CUR_SCALE_MAX 32bit R W 0 20...

Page 228: ...easing significance as motor velocity increases The KPHASE parameter is factory cal ibrated but can be adjusted by the user if necessary Finding the optimal KPHASE The optimal KPHASE value is found by running the motor at high speed 2000 RPM and observing the Actual torque in MacTalk The actual torque will settle at its minimum value at the optimal KPHASE The new KPHASE can be saved in flash and w...

Page 229: ...an be de creased The rate is inverse proportional to the actual velocity which means the it will decrease slower at higher velocities The slope is determined by register 215 see CUR_SCALE_DEC page 229 See also Special settings page 106 8 2 114 XFIELD_ADDR The internal XFIELD allows the user to configure many different combinations of inputs and outputs from the motor The RS422 interface can be use...

Page 230: ... register in this range sets up 2 bits in the FlexRegister 48 16 bits in total 8 2 117 FlexLEDSetup1 Sets up LED L2 and L3 on the motor If the motor has no Ethernet module or CANopen interface it will be in the default con figuration and the 2 LEDs L2 and L3 can be configured to show various conditions In default configuration the L2 green and L3 green can be configured to display the status of a ...

Page 231: ...to correction is run with V_SOLL but if V_SOLL_AUTO 0 it will be used in stead 8 2 120 V_IST_CALC The theoretical actual velocity 8 2 121 MOTOR_REV Counts multiples of 409600 counts since power on The value is added to the motor rev olution counter in the Event log in order to keep the total amount of revolutions the mo tor has run in its entire lifetime Reg Name Size Access Range Default Unit Mac...

Page 232: ... register 242 V_HOME_CRAWL is 0 a user defined velocity is used independent of V_HOME Please note that overshoot can occur if this velocity is set too high 8 2 125 V_HOME_TIMEOUT In all Zero Search modes the time out is by default 60 s This delay can changed by writ ing a value different from 0 to this register The unit is milliseconds If 0 the Zero Search time out is 60000 ms Else the value in th...

Page 233: ... zero It means that the motor can catch up the follow error Default 0 No over speed allowed Bit 8 31 Follow error limit before overspeed is used The motor will exceed the Max velocity V_SOLL if the Follow error register 20 is higher than specified in this register Default 5000 counts 8 2 128 TEMP_HIGHRES Description Temperature measured inside the motor electronics The measured temperature is pres...

Page 234: ... numbers 173000 this also sets the time before start saving of the internal Event log From serial number 173000 the Event log is saved continuously every 1 seconds 8 2 130 V_ENCODER The actual velocity measured from the internal H2 H4 encoder Reg Name Size Access Range Default Unit MacTalk name 252 LOWBUSCVI_CNT 32bit R W 10 Counts N A Reg Name Size Access Range Default Unit MacTalk name 253 V_ENC...

Page 235: ...JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS17x 23x 34x 43x 235 9 Building Sequential Programs ...

Page 236: ...dly icons Make the required choice on the eRxP Programming tab The name eRxP refers to the programmable module R module from the MAC motor series e mbedded R module number x P rogramming After making one of these 2 choices the program window will be opened Please note When a program is made and stored the motor will always startup in po sition mode If this is not convinient insert a Mode passive o...

Page 237: ...JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS17x 23x 34x 43x 237 9 2 Programming Main window The main window for creating a new program or editing a program is shown below ...

Page 238: ...238 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS17x 23x 34x 43x 9 3 Programming menu The menu found at the top of the main window gives access to the following options ...

Page 239: ... be started Press the button at line 1 and a tool box will pop up TT0983GB Press the first button to create the first program line The box will pop up Select command Choose the desired command In this example it is desired to wait for an input to be activated before further program execution Choose to wait until input 5 is high and press OK 1 2 3 Continued The command is inserted at the previous s...

Page 240: ...e the second program line Choose the movement type needed Relative Move x counts forward with reference to the actual position Absolute Move to the x position with reference to the zero search position 5 6 The relative move command just entered is converted into a program line 7 Now the program is finished Press the button Now the program will be transfered and stored permanently in the module The...

Page 241: ... paused it is possible to single step through each program line which can be a useful feature to debug the program since the action in each line can be closely observed When the program is finished it can be saved on the harddisc or floppy disc Please be aware that when saving the program it is the complete program including the overall setup of the motor such as servofilter I O setup etc Everythi...

Page 242: ...he program will be executed each time the motor is switched on 2 Before beginning to program ensure that the basic parameters for controlling accel eration torque safety limits etc are set to proper values When saving the program to the PC all of these basic parameter settings will be saved together with the pro gram as a complete motor setup package 3 A program line can be edited by double clicki...

Page 243: ...g at first glance but the buttons Set register in the QuickStep motor or Wait for a register value before continuing give direct access to all the 50 registers in the basic QuickStep motor such as the gear ratio or the actual torque register In total this gives a very powerful programming tool since 95 of a typical program can be built using the simple command icons while the remaining 5 is typica...

Page 244: ... review or work on the code or if the program is only worked on infrequently Icon Dialogue Function Sets the operating mode of the motor When the program encounters a program line with this command the motor s operating mode will be set to the specified mode This allows you to use different operating modes in different parts of the program For a detailed description of the individual operating mod...

Page 245: ... Set position commands Note that if you specify a velocity motor register no 5 V_SOLL will be overwritten with this velocity value Also if you specify an acceleration motor register no 6 A_SOLL will be overwritten with the acceleration value specified Register no 49 P1 is always overwritten by this command If the Wait for in position option is checked the program will wait until the motor has fini...

Page 246: ...tions on the Save position and Set position commands Note that motor register no 5 V_SOLL will always be overwritten with the value specified in the New velocity field Also if you specify an acceleration motor register no 6 A_SOLL will be overwritten with the acceleration value specified Register no 49 P1 is always overwritten by this command This command always waits until the movement is finishe...

Page 247: ...an be taken from one of three memory registers in the user memory area For further information on using these memory registers refer to the sections on the Save position and Set position commands Note that if you specify a velocity motor register no 5 V_SOLL will be overwritten with this velocity value Also if you specify an acceleration motor register no 6 A_SOLL will be overwritten with the acce...

Page 248: ...ions on the Save position and Set position commands Note that if you specify a velocity motor register no 5 V_SOLL will be overwritten with this velocity value Also if you specify an acceleration motor register no 6 A_SOLL will be overwritten with the acceleration value specified If the Wait for in position option is checked the program will wait until the motor has finished the movement before pr...

Page 249: ...ances are measured in encoder counts and can either be entered directly or taken from three memory registers in the user memory area For further information on using these memory registers refer to the sections on the Save position and Set position commands Note that if you specify a velocity motor register no 5 V_SOLL will be overwritten with this velocity value Also if you specify an acceleratio...

Page 250: ...rence 9 7 9 Set outputs Icon Dialogue Function Sets one or more outputs When setting a single output you can set it to high low or you can specify the length in milliseconds of a pulse to send out on that output When setting multiple outputs you can specify whether to set each output high low or leave it in its current state ...

Page 251: ... to the next line in the program If the condition is met the command jumps to the specified program line If the condition is not met the program proceeds to execute the next line in the program When Input type is set to Single the command can test a single input for one of four possible conditions the input is low the input is high the input has transitioned to low Falling Edge or the input has tr...

Page 252: ...ion is not met the program proceeds to execute the next line in the program When Input type is set to Multiple multiple inputs can be tested for being either high or low The Operand setting determines whether one or all of the inputs must meet their test criterion If set to And all inputs must match their test settings If set to Or only one input need match its test setting Inputs that are set to ...

Page 253: ...um pause that can be specified is 0 milliseconds Note that this command overwrites Timer 1 in the RxP module s memory Icon Dialogue Function Waits for a specified input condition to occur The next line in the program will not be executed until the input condition has been met If Input type is set to Single the command will wait for one of four things to happen on the specified input that the input...

Page 254: ...t line in the program will not be executed until the input condition has been met If Input type is set to Multiple multiple inputs can be tested for being either high or low The Operand setting determines whether one or all of the inputs must meet their test criterion If set to And all inputs must match their test settings If set to Or only one input need match its test setting Inputs that are set...

Page 255: ... register in the motor against a specified value before either jumping to another line in the program or moving on to the next line in the program If the condition is met the command jumps to the specified program line If the condition is not met the program proceeds to execute the next line in the program The value can either be entered as native motor units or it can be entered as generic engine...

Page 256: ...ntered as generic engineering units The dialogue above provides an example register no 10 P_IST or Actual position depending on your preference must be less than 0 revolutions before the program will continue The position that the register is tested against can be specified as an integer number of encoder counts or can be specified as a non integer number of revolutions Icon Dialogue Function Save...

Page 257: ...on P_IST register 10 value to a new value or the value in one of three position values stored in the user memory area register 1 2 or 3 This is the reverse of the Save position command Icon Dialogue Function Initiates a zero search The program waits until the zero search has completed before proceeding to the next command For a detailed description of how to set up a zero search refer to Zero sear...

Page 258: ...C commands are described in detail in section 4 5 7 of the MAC user manual JVL publication no LB0047 20GB V2 0 or newer However a brief summary is in order If Mode is set to Passive Velocity or Position the motor will switch to that mode Also one of the passive motor registers will be activated in the sense that its value will be written to the corresponding active motor register which actually co...

Page 259: ...ctivate four different sets of registers each controlling position velocity acceleration torque load factor and in position window FastMAC FlexMAC commands are described in detail in section 4 5 7 of the MAC user manual JVL publication no LB0047 20GB V2 0 or newer However a brief summary is in order Icon Dialogue Function MacTalk programs are sent to the motor in a compact binary format which is t...

Page 260: ... Note that if you write a value to a register using this command that value is always measured in native motor units Conversion from generic engineering units is only supported for the commands Set a register Jump according to a register and Wait for a register value before continuing If you make a calculation please be aware that most of the registers in the MIS motors operate with integers so it...

Page 261: ...naming provides an alternative method of entering data into the dialogue by selecting Simple list with short firmware names Instead of selecting for example 3 Requested position to access register no 3 you can simply type P_SOLL If you wish to enter a constant you simply enter the digits the dialogue will not mistake the constant for a register number If you are in doubt about a register name look...

Page 262: ...proceeds to execute the next line in the program Any two registers can be compared with each other but the command does not do anything beyond comparing the registers numerical values measured in native motor units To ensure that comparisons are meaningful it is preferable to compare registers that hold the same type of information in the same binary format In the example above two position regist...

Page 263: ...position Icon Name Execution time µs Remarks 0 Set operation mode 60 Move relative no velocity no acceleration 1 90 Move relative set velocity no acceleration 1 150 Move relative set velocity set acceleration1 210 Move absolute no velocity no acceleration 1 60 Move absolute set velocity no acceleration 1 120 Move absolute set velocity set acceleration1 180 Set single output high low 30 Set multipl...

Page 264: ...erial communica tions speed and load whether CANopen is installed and the CANopen communications speed and load Serial communications on the RS 485 line can load the motor up to 1 at 19 200 baud which is insignificant but at the maximum baud rate of 921 600 the communications can load the motor up to 45 which would result in an MLT of 60 μs When CANopen firmware is installed the basic MLT will cha...

Page 265: ...nal 6 different Ethernet protocols These are EtherCAT ModbusTCP Profinet Powerlink EthernetIP SercosIII This manual do only cover description of how to connect Concerning software and protocol setup and usage please consult a separate manual that can be found at www jvl dk using this link www jvl dk The litterature number is LB0056 xxGB xx version ...

Page 266: ...266 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS17x 23x 34x 43x ...

Page 267: ... section 11 2 1 to section 11 2 5 Using CANopenExplorer See section 11 3 1 to section 11 3 3 Survey of Communication specific objects and manufacturer specific objects in the DS301standard Communication objects consist of the general information about the settings in the module while the Manufacturer specific objects consist of the settings of input output and the motor parameters This section als...

Page 268: ... society The object of the society is to promote CAN Controller Area Network and to provide a path for future developments of the CAN protocol CiA specifications cover physical layer definitions as well as application layer and device profile descriptions In order to receive the CAN standard is it necessary to obtain CiA membership The membership fee depends on a company s number of employees Memb...

Page 269: ...h the ISO11898 stand ard The major performance features and characteristic of the CANopen protocol are described below Message oriented protocol The CANopen protocol does not exchange data by addressing the recipient of the mes sage but rather marks each transmitted message with a message identifier All nodes in the network check the identifier when they receive a message to see whether it is rele...

Page 270: ...time In other random bus access routines this causes the destruction of suppressed messages In order to solve such a bus access conflict a repeated occupation of the bus is required using an appropriate triggering strategy The CANopen protocol therefore deploys a routine to ensure that the message with the highest priority at any given time is sent without any destruction of message con tents Shor...

Page 271: ...de ID 7 bits in size 0 127 The function code classifies the communications objects and controls the transmission priorities Objects with a small function code are transmitted with high priority For ex ample in the case of simultaneous bus access an object with the function code 1 is sent before an object with the function code 3 Node address Every device is configured before network operation with...

Page 272: ... cable a wire cross section of 0 25 to 0 34 mm would be an appropriate choice in many cases For bus lengths greater than 1 km a bridge or repeater device is recommended Galvanic isolation between the bus nodes is optional 11 2 2 Necessary accessories The EDS file for the MIS motors is available for download at JVL s web site http www jvl dk under the downloads menu Field bus Interface Specificatio...

Page 273: ...e for communication with the PC For further information about the dongle see An overall method for communication test page 275 The PC must be provided with a CANopen communications module 11 2 3 EDS Electronic data Sheet In order to give the user of CANopen more support the device description is available in a standardised way and gives the opportunity to create standardised tools for config urati...

Page 274: ...Connection and setup of the CAN bus 11 2 5 Bus termination In order to guarantee correct operation of the CAN bus bus terminating resistors must be provided at both ends of the bus cable See the general connection guide for connecting CAN bus to the MIS motors How to connect a MIS motor page 37 ...

Page 275: ...2 4 The power sup ply must be connected to the motor as shown in How to connect a MIS motor page 37 PC PC with a CAN adaptor and software that can communicate with this module or if the CANopenExplorer software is used the PCAN USB Dongle from Peak system that is connected to a USB port on the PC The Peak systems web site address is http www peak system com This includes a list of distributors To ...

Page 276: ...ual Integrated Stepper Motors MIS17x 23x 34x 43x 11 3 Using CANopenExplorer 4 Select here on the the manufacturer specific register 5 Select thereafter the object 0x2012 Object 0x2012 contains the motor parameters TT1100GB 1 3 2 TT1101GB 4 5 ...

Page 277: ...e following screen appears 7 Type 02 in the window and press OK 8 Click on the sub register 0x05 which is the register to choose the velocity the motor will use Press W on the keyboard type 100 in the window and press OK The value 100 is in RPM 9 Click on the sub register 0x03 which is the register to choose the distance the motor will run Press W on the keyboard type 20000 in the window and type ...

Page 278: ... in the EDS view pane and press either R for read or W for write Pressing R should read the value successful if no error pops up Pressing W for write will pop up a small window in which the present value is displayed in both decimal and hex It is then possible to write a new value either in decimal or hex using a 0x prefix such as 0x185 to enable the first TPDO on node 5 by clearing the high bit I...

Page 279: ... is useful for automated testing Entries can be deleted from the user SDO list by selecting them with the mouse and pressing the delete key The sync Time field top right sets the time in milliseconds for the SYNC messages to be sent out SYNCs can be started and stopped using the buttons Enable Sync and the Stop button to the right The Guard Time field below the Sync Time field works like SYNC just...

Page 280: ...note at top of next page Mandatory Error Register 1001 UNSIGNED8 X This is the mapping error register and it is part of the emergency ob ject If any of the sub indices are high an error has occurred See also section 11 4 2 Mandatory 0 Generic error Mandatory 1 Current 2 Voltage 3 Temperature 4 Communication Overrun 5 Device profile specific 6 Reserved 7 Manufactor specific Reservation register 100...

Page 281: ...lt in the system it is impossible to get in contact with the unit After the unit has started up and there is communication be tween the master and the slave turn on the required error control mechanism in the communication objects see DS301 specified Communications objects page 280 Name Index hex Sub Index Data Type Read only Default Description Guard time 100C UNSIGNED16 Informs about the Guard t...

Page 282: ... will be treated as signed 11 4 4 Enable and Disable PDOs In the CANopen profile it is only possible to have four transmit and four receive PDOs enabled at the same time In the MIS motor or SMC66 85 all PDOs are disabled when the module is booted up The user must choose which PDOs the application will use and enable these To enable or disable a PDO it is necessary to write to the MSB bit 31 in the...

Page 283: ...orer shows that TxPDO1 is mapped to transmit object 0x2012 sub 0x02 32 bit If the user wants to map to another object following procedure must be followed De activate the PDO by writing 1 to MSB of the COB ID 0x80000185 see 1 at the illustration below Write 0 in Number of Entries Remap to another object by writing to PDO Mapping Entry 1 0x20140510 Write 1 in Number of Entries Please note Sub 0x03 ...

Page 284: ...r 16 bit of the V_SOLL register 0x05 0x2710 10000 100 RPM see 3 at the illustration below 11 4 6 Receive PDOs The PDO 1 20 are reserved for use with DSP 402 The following receive PDOs are available Receive PDO 21 This PDO can be used to update the position velocity and acceleration The data in the PDO is written directly to the position register and if the motor is in position mode it will start m...

Page 285: ...anged dy namically See Dynamic Mapping page 283 PDO Sub index Type Description Default Access type 21 1 Receive COB ID Nodeid 0x80000200 r w 1 Transmit COB ID Nodeid 0x80000180 r w 22 1 Receive COB ID Nodeid 0x80000300 r w 1 Transmit COB ID Nodeid 0x80000280 r w 23 1 Receive COB ID Nodeid 0x80000400 r w 1 Transmit COB ID Nodeid 0x80000380 r w 24 1 Receive COB ID Nodeid 0x80000500 r w 1 Transmit CO...

Page 286: ... be read Transmit PDO 22 With this PDO the actual velocity can be read Transmit PDO 23 With this PDO the value of the analogue inputs 1 4 can be read Tables shown above are default mapping The mapping can however also be changed dy namically See Dynamic Mapping page 283 Byte 0 1 2 3 4 5 6 7 Data P_IST V_IST Motor error Object 2012h sub 10 2014h sub 12 2014h sub 35 Byte 0 1 2 3 4 5 6 7 Data V_IST A...

Page 287: ... 11 4 8 Beckhoff support The MIS motors or SMC66 85 supports running CAN with Beckhoff PLC In this mode 4 receive and transmit PDO s are enabled from startup and are configured as PDO 1 4 COB_ID 0x800000xxx NOT ENABLED COB_ID 0x000000xxx ENABLED 11 4 9 PDO setup in Beckhoff mode Normally each selected PDO needs to be enabled after power up and initialization but in Beckhoff mode PDO 1 4 is automat...

Page 288: ...Dynamic Mapping page 283 PDO Sub index Type Description Default Access type 1 1 Receive COB ID Nodeid 0x00000200 r w 1 Transmit COB ID Nodeid 0x00000180 r w 2 1 Receive COB ID Nodeid 0x00000300 r w 1 Transmit COB ID Nodeid 0x00000280 r w 3 1 Receive COB ID Nodeid 0x00000400 r w 1 Transmit COB ID Nodeid 0x00000380 r w 4 1 Receive COB ID Nodeid 0x00000500 r w 1 Transmit COB ID Nodeid 0x00000480 r w ...

Page 289: ...f the analogue inputs 1 4 can be read Transmit PDO 3 With this PDO the value of the analogue inputs 4 8 can be read Transmit PDO 4 With this PDO the actual velocity can be read Byte 0 1 2 3 4 5 6 7 Data P_IST V_IST Motor error Object 2012h sub 10 2014h sub 12 2014h sub 35 Byte 0 1 2 3 4 5 6 7 Data ANALOGUE1 ANALOGUE2 ANALOGUE3 ANALOGUE4 Object 2014h sub 89 2014h sub 90 2014h sub 91 2014h sub 92 By...

Page 290: ...future JVL there fore reserves the right to change future firmware versions to conform to new versions of the standard Not all of the functionality described in DSP 402 is supported but all mandatory func tions are supported The following operation modes are supported Profile position mode Velocity mode Zero Search mode Preconditions The start mode of the motor must be set to passive No power up z...

Page 291: ...og_address 6505 0 VISIBLE_STRING X www jvl dk Digital I O Digital_inputs 60FD 0 UNSIGNED32 X Digital_outputs 60FE 0 UNSIGNED8 X Digital_outputs_Physical_outputs 60FE 1 UNSIGNED32 Digital_outputs_Bit_mask 60FE 2 UNSIGNED32 Device Control Abort_connection_option_code 6007 0 INTEGER16 Error_code 603F 0 UNSIGNED16 Control word 6040 0 UNSIGNED16 Status word 6041 0 UNSIGNED16 X Quick_stop_option_code 60...

Page 292: ...SIGNED32 Homing_speeds_Speed_ during_search_for_zero 6099 2 UNSIGNED32 Homing_acceleration 609A 0 UNSIGNED32 Factors Position_notation_index 6089 0 INTEGER8 Position_dimension_index 608A 0 UNSIGNED8 Velocity_notation_index 608B 0 INTEGER8 Velocity_dimension_index 608C 0 UNSIGNED8 Acceleration_notation_index 608D 0 INTEGER8 Acceleration_dimension_index 608E 0 UNSIGNED8 Position_encoder_resolution 6...

Page 293: ...eters should be set as follows Name Index hex Sub Index Type Read only Default Feed_constant_Feed 6092 1 UNSIGNED32 Feed_constant_Shaft_revolutions 6092 2 UNSIGNED32 Position_factor 6093 0 UNSIGNED8 X 2 Position_factor_Numerator 6093 1 UNSIGNED32 Position_factor_Feed_constant 6093 2 UNSIGNED32 Velocity_encoder_factor 6094 0 UNSIGNED8 X 2 Velocity_encoder_factor_Numerator 6094 1 UNSIGNED32 Velocity...

Page 294: ...it of velocity to be in mm s The parameters should be set as follows Acceleration factor This factor is used to convert the user unit into the internal unit 9 54 RPM s The factor is adjusted with the object 6097h Example 1 We have an MIS232 with 1600 counts revolution We want the user unit of acceleration to be in RPM s The parameters should be set as follows Object Name Value 6094h subindex 1 Vel...

Page 295: ...g bit 6 absolute relative in the status word It is also possible to select different movement modes This is done with bit 5 change set immediately in the status word When this bit is 0 and a move is in progress the new set point is accepted but the new set point and profile are not activated until the previous movement is finished When this bit is 1 the new set point is activated instantly and the...

Page 296: ... 3 6040h 607Ah Control word Target position Controls the state machine and the target position pp 4 6040h 60FFh Control word Target velocity pv Controls the state machine and the target velocity pv 7 6040h 60FEh Control word Digital outputs Controls the state machine and the digital outputs PDO no Mapping object index Mapping object name Event driven 1 6041h Status word Yes 2 6041h 6061h Status wo...

Page 297: ... setup To setup this register use the register 224 to 231 Register 224 will setup FlexRegister bit 0 and 1 this way And the rest setup registers follow the same pattern up to 231 which represents Flex Register bit 14 and 15 The setup can be done manually with SDO access or directly in MacRegIO Please note The function will only be activated if register 224 FlexRegister bit 0 and 1 is set TT2496 02...

Page 298: ... is with the lowest byte first Every object is described and classified in the object dictionary or index and is accessible via the network Objects are addressed using a 16 bit index so that the object dictionary may contain a maximum of 65536 entries Index 0001 001F Static data types contain type definitions for standard data types like boolean integer floating point etc These entries are include...

Page 299: ... Unsigned8 Boolean Integer32 the value of the sub index is always zero For complex object dictionary entries such as arrays or records with multiple data fields the sub index refers to fields within a data structure pointed to by the main index Index counting starts with one The DS 301standard constitutes the application and the communications profile for a CANopen bus and is the interface between...

Page 300: ... an agreement between the sender and receiver regarding which object is located at which position in the PDO This means that the sender knows at which position in the PDO it should write data and the receiver knows where it should transfer the data to that is received The PDOs correspond to entries in the Device Object Dictionary and provide the inter face to the application objects Data type and ...

Page 301: ...ic mapping In static PDO mapping all PDOs are mapped in accordance with some fixed non modifiable setting in the relevant PDO In dynamic PDO mapping the setting of a PDO can be modified It is also allowable to have a flexible combination of different process data during operation 11 7 4 SDO Service Data Objects SDO can access all entries in the object directory but they are normally used in the in...

Page 302: ...ata set size is not indicat ed 1 data set size is indicated Multiplexer It repre sents the index sub index of the data to be transfer by the SDO Upload 2 Initiate upload request 2 Initiate upload response Only valid if e 1 and s 1 otherwise 0 If valid it indicates the number of bytes in d that do not contain data Bytes 8 n 7 do not contain data Transfer type 0 normal transfer 1 expedited transfer ...

Page 303: ... index not used always 0 Reserved for further use always 0 Upload e 0 s 0 d is reserved for further use e 0 s 1 d contains the number of bytes to be uploaded Byte 4 contains the lsb and byte 7 contains the msb e 1 s 1 d contains the data of length 4 n to be uploaded the encoding depends on the type of the data ref erenced by index and sub index not used always 0 Reserved for further use always 0 A...

Page 304: ...arameter incompatibility reason 0606 0000h Access failed due to a hardware error 0607 0010h Data type does not match length of service parameter does not match 0607 0012h Data type does not match length of service parameter too high 0607 0013h Data type does not match length of service parameter too low 0609 0011h Sub index does not exist 0609 0030h Value range of parameter exceeded only for write...

Page 305: ...art Remote Node can be initiated by the local ap plication A general NMT protocol Where CS is the NMT command specified The Node ID of the NMT slave is assigned by the NMT master in the Node Connect protocol or 0 If 0 the protocol addresses all NMT slaves Start Remote Node This is an instruction for transition from the Pre Operational to Operational communi cations state The drive can only send an...

Page 306: ...es exist for performing Error Control Node Guarding Life Guarding Heartbeat Node Guarding Life Guarding With Node Guarding the CANopen master sends each slave an RTR telegram Remote Transmit request with the COB ID 1792 700h node ID Using the same COB ID the slave responds with its communications state i e either Pre Operational Operational or stopped The CANopen slave also monitors the incoming R...

Page 307: ... as if it was not received Heartbeat With the Heartbeat protocol a Heartbeat Producer cyclically sends its communications state to the CAN bus One or more Heartbeat Consumers receive the indication The relationship between producer and consumer is configurable via the object dictionary The Heartbeat Consumer guards the reception of the Heartbeat within the Heartbeat Consumer time If the Heartbeat ...

Page 308: ...Message is regarded as the first heartbeat message If the Heartbeat producer time is not 0 the heartbeat pro tocol is used In the MIS motors or SMC66 85 none of the error control mechanisms is enabled when the modules are started up because if there is any fault in the system it is impos sible to contact the module After the module has started up and there is communication between the master and t...

Page 309: ...JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS17x 23x 34x 43x 309 12 Modbus interface ...

Page 310: ...t a time Whenever possible split long commands into smaller commands Also only write the absolutely necessary values to the motor All registers in the MISxxx are 32 bits To comply with the clean 16 bit Modbus standard a 32 bit register must be read or written as two consecutive 16 bit registers The register address mapping follows the normal documented register numbers but the address field but mu...

Page 311: ...54 3 0 20 0 2 NN MM NN and MM are the CRC 16 bytes Write Multiple Register operation Request adr 0x10 RegHi RegLo CountHi CountLo NBytes Val0Hi Val0Lo CRC1 CRC2 Offset 0 1 2 3 4 5 6 7 8 Reply adr 0x10 RegHi RegLo CountHi CountLo CRC1 CRC2 Example to write P_SOLL register 3 to motor with address 254 values in decimal 254 16 0 6 0 2 4 bb aa dd cc NN MM NN and MM are the CRC 16 bytes Bits Values Desc...

Page 312: ...rd Low byte 15 Low Word 16848 Low Word High byte 65 Low Word Low byte 208 Address 40000 2 3 40006 High byte 156 Low byte 70 Note that some implementations of the Modbus requires an offset added to the address eg to write to P_SOLL register 3 use the address 2 3 1 7 or 40000 2 3 1 40007 This refers only to the master It should generate the same command as be low The word order for 32 bit values is ...

Page 313: ...JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS17x 23x 34x 43x 313 13 Stand alone electronics ...

Page 314: ...e same RS485 bus Command for easy PLC PC setup and communication Power supply 12 72 VDC Extremely high torque vs speed up to 3000 RPM with good performance Fixed 409600 steps per revolution Built in 32Bit μprocessor with 8 In Out that can be configured as inputs PNP out puts or analogue inputs 5V serial and RS485 interface for set up and program ming MODBUS interface 9 6kbit sec to 1Mb sec communi...

Page 315: ...JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS17x 23x 34x 43x 315 13 1 Step motor controllers SMCxx 13 1 1 Block diagram Positioning Speed Control ...

Page 316: ...rated Stepper Motors MIS17x 23x 34x 43x 13 1 Step motor controllers SMCxx 13 1 2 SMC85 Connector overview The connections to the various connectors of the SMC85 PCB board is shown below Note that GND and P are connected together internally Only SMC85 ...

Page 317: ...ts JVL have a range of stepper motors with an integrated stepper driver none programma ble that are cost effective and easy to use JVL also offer a range of stand alone stepper drivers in the working range 3 to 9 ARMS output current and 24 to 150VDC supply Please contact your JVL distributor for further information ...

Page 318: ...318 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS17x 23x 34x 43x ...

Page 319: ...JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS17x 23x 34x 43x 319 15 Technical Data ...

Page 320: ...The bandwith is 10 Mbit sec 10 MHz Min max voltage applied to either line is 7V to 12V Output performance Min 2 0V differential between the outputs 100 Ohm load between the lines Input performance Logic 0 or 1 when voltage difference between lines is 0 2V or 0 2V Hyst 50 mV Communication Type Standard RS485 Baud Rate 9 6 to 921 6 kbps Type Optional CANopen DS301 VS3 0 2 0A Active Ethernet Powerlin...

Page 321: ...directional line interface The bandwith is 10 Mbit sec 10 MHz Min max voltage applied to either line is 7V to 12V Output performance Min 2 0V differential between the outputs 100 Ohm load between the lines Input performance Logic 0 or 1 when voltage difference between lines is 0 2V or 0 2V Hyst 50 mV Communication Type Standard RS485 Baud Rate 9 6 to 921 6 kbps Type Optional CANopen DS301 VS3 0 2 ...

Page 322: ...ional line interface The bandwith is 10 Mbit sec 10 MHz Min max voltage applied to either line is 7V to 12V Output performance Min 2 0V differential between the outputs 100 Ohm load between the lines Input performance Logic 0 or 1 when voltage difference between lines is 0 2V or 0 2V Hyst 50 mV Communication Type Standard RS485 Baud Rate 9 6 to 921 6 kbps Type Optional CANopen DS301 VS3 0 2 0A Act...

Page 323: ...ce The bandwith is 10 Mbit sec 10 MHz Min max voltage applied to either line is 7V to 12V Output performance Min 2 0V differential between the outputs 100 Ohm load between the lines Input performance Logic 0 or 1 when voltage difference between lines is 0 2V or 0 2V Hyst 50 mV Communication Type Standard RS485 Baud Rate 9 6 to 921 6 kbps Type Optional CANopen DS301 VS3 0 2 0A Active Ethernet Power...

Page 324: ...9 56 42 48 35 40 28 32 21 24 14 16 7 08 0 0 Open loop performance no closed loop TT2426 01GB 0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 0 0 0 1 0 2 0 3 0 4 0 5 0 500 1000 1500 2000 2500 3000 Torque Nm Speed RPM MIS171S motor torque versus speed and supply voltage Torque 72V Nm Torque 48V Nm Torque 24V Nm Torque 12V Nm Shaft Power 72V W Shaft Power 48V W Shaft Power 24V W Shaft Power 12V ...

Page 325: ...JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS17x 23x 34x 43x 325 15 5 Torque Curves ...

Page 326: ...lies is shown As it can be seen the supply voltage have a significant influence at the torque performance at higher speeds Please make sure to use a supply voltage which is appropriate for the actual application Also make sure that the supply voltage is stable without too much ripple since voltage dips can cause the motor to stall and loose position Also shaft power mechanical power at motor shaft...

Page 327: ...JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS17x 23x 34x 43x 327 15 5 Torque Curves 15 5 3 MIS232S and MIS232T Torque and power curves ...

Page 328: ...328 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS17x 23x 34x 43x 15 5 Torque Curves 15 5 4 MIS234S Torque and power curves ...

Page 329: ...own As it can be seen the supply voltage have a significant influence at the torque performance at higher speeds Please make sure to use a supply voltage which is appropriate for the actual application Also make sure that the supply voltage is stable without too much ripple since voltage dips can cause the motor to stall and loose position 15 5 6 MIS340 Torque curve 15 5 7 MIS341 Torque curve ...

Page 330: ...330 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS17x 23x 34x 43x 15 5 Torque Curves 15 5 8 MIS342 Torque curve 15 5 9 MIS343 Torque curve ...

Page 331: ...0 120 150 180 210 240 270 300 0 00 1 00 2 00 3 00 4 00 5 00 6 00 7 00 8 00 9 00 10 00 0 500 1000 1500 2000 2500 Nm Speed RPM MIS430 motor torque and shaft power versus speed Torque 80V Nm Torque 48V Nm Torque 24V Nm Shaft Power 80V W Shaft Power 48V W Shaft Power 24V W Power supply PSU24 240 regulated PSU Power supply PSU48 1500 regulated PSU Power supply PSU80 4 regulated PSU Room temperature 20 ...

Page 332: ...op performance no closed loop 0 23 46 69 92 115 138 162 185 208 231 254 277 300 0 2 4 6 8 10 12 14 16 18 20 22 24 26 0 500 1000 1500 2000 Nm Speed RPM MIS432 motor torque and shaft power versus speed Torque 80V Nm Torque 48V Nm Torque 24V Nm Shaft Power 80V W Shaft Power 48V W Shaft Power 24V W Power supply PSU24 240 regulated PSU Power supply PSU48 1500 regulated PSU Power supply PSU80 4 regulate...

Page 333: ...T Notice that this chapter only covers the MIS23x family generation 2 Only MIS23x MIS231S MIS232S MIS234S 103 4 06 124 4 88 161 6 34 Motor Type Length L 2 0 0 0787 Shaft dia 0 0 013mm 0 000512 6 35 0 25 6 35 0 25 10 0 0 3937 This drawing covers only motor type MIS23x S and MIS23x with radial connectors T Inches D L D MIS231T MIS232T 103 4 06 124 4 88 6 35 0 25 10 0 0 3937 ...

Page 334: ...S234Q R Notice that this chapter only covers the MIS23x family generation 2 MIS231Q MIS232Q MIS234Q 103 4 06 124 4 88 161 6 34 Motor Type Length L 2 0 0 0787 Shaft dia 0 0 013mm 0 000512 6 35 0 25 6 35 0 25 10 0 0 3937 This drawing covers only motor type MIS23x Q and MIS23x with radial connectors R Inches D MIS231R MIS232R 103 4 06 124 4 88 6 35 0 25 10 0 0 3937 L D ...

Page 335: ...JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS17x 23x 34x 43x 335 15 6 Physical Dimensions 15 6 3 Physical dimensions MIS340 MIS343 Only MIS34x ...

Page 336: ...336 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS17x 23x 34x 43x 15 6 Physical Dimensions 15 6 4 Physical dimensions MIS432 Only MIS43x TT2327 02GB ...

Page 337: ...speed is lowered the lifetime will increase inversely proportional Example A motor is having a radial load of 200N placed with centre 15 mm from the flange According to the curve the lifetime will be 15 050 hours at 3000 RPM If the speed is lowered to 300 RPM 10 times lower than the curve is specified at the lifetime will increase 10 times giving a total of 150 500 hours of operation Only MIS34x T...

Page 338: ...338 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS17x 23x 34x 43x 15 8 Trouble shooting guide ...

Page 339: ...JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS17x 23x 34x 43x 339 16 Accessories The following accessories are available for the MIS motor series ...

Page 340: ...340 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS17x 23x 34x 43x 16 1 Cables ...

Page 341: ...C The power supply is UL and CSA approved It is protected against overvoltage overtem perature and short circuit or overload of the output The power supply can either be mounted on a DIN rail or wall mounted See also the data sheet LD0047 which can be downloaded from www jvl dk 16 2 3 Other power supplies JVL offers a wide range of power supplies in the power range 45W to 1 5kW with output voltage...

Page 342: ...t A family of electromechanical brakes for external mounting is available for the MIS mo tors All brake types can be mounted directly on all the MIS motors and require 24VDC ap plied to release the motor Further data for adding a brake to the MIS motors can be found using following links MIS23x www jvl dk MIS34x www jvl dk ...

Page 343: ...ult 1 2 Step 1 Make sure that the shaft collar is oriented correctly in order to assure that the right tension around the motor shaft is possible Hint Tighten the shaft collar gently just to keep it in the right position Step 2 Mount the gear or brake at the motor but make sure to fasten the 4 shaft bolt first before fastening the shaft collar Its recommended to use Locktite 278 in the threats to ...

Page 344: ...ct type to be mounted Brakes Product type to be mounted HTRG05 MAB23x HTRG05 MAB23x HTRG06 MAB34x HTRG06 HTRG08 HTRG08 HTRG08 HTRG10 MAC050 to MAC141 Ø6 35 shaft MAC050 to MAC141 Ø6 35 shaft MIS230 233 Ø6 35 shaft MIS230 233 Ø6 35 shaft MAC050 to MAC141 Ø6 35 shaft MAC400 402 Ø14 shaft MIS340 341 Ø9 53 shaft MIS340 341 Ø9 53 shaft MIS342 Ø14 shaft MAC800 Ø19 shaft MAC800 Ø19 shaft Series Series Us...

Page 345: ...JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS17x 23x 34x 43x 345 17 Appendix ...

Page 346: ...ellow Yellow White Red White Driver Driver Driver B A A B B A A B B A A B A A B B Connection of Zebotronics motor Type SMxxx x xx x 4 terminals Black 1 White Green Red A B Connection of Zebotronics motor Type SMxxx x xx x 8 terminals 1 Brown 3 2 White Black 4 5 Blue Red 7 6 8 Yellow Gray Green A A B B SM56 x xx SM87 SM107 168 x xx A A B B Black Black White Orange White Orange Red Yellow Yellow Whi...

Page 347: ... B Black Yellow Red White Connection of Vexta motor Type PH2xx xxx Connection of Vexta stepmotor Type PH2xx xxx Orange Red Red White Orange White Yellow White Yellow Black White Black A A B B A A B B Motor in unipolar model 6 cables Driver B A A B Red Brown Black Yellow Blue Violet White Green Connection of Phytron motor Type ZSx xxx x x A A B B ...

Page 348: ...ad as 32 bit Block description Sync Response Sync Description 0x50 0x52 Read register 0x51 0x52 Read register block 0x52 0x11 Acknowledge Write register 0x54 0x11 Acknowledge Enter safe mode 0x55 0x11 Acknowledge Exit safe mode 0x56 0x11 Acknowledge Write to flash 0x57 None Reset controller 0x59 None Group write register 0x61 0x61 Program status and command 0x62 0x11 Acknowledge Write program flas...

Page 349: ...o 52h 52h 52h Write command MAddress Yes 00h FFh Address 0 This will always be 0 because this is the Address of the master RegNum Yes 05h FAh RegNum 5 This will always be the same as requested Len Yes 80h 7Fh Len 128 The length will always be 128 so 64 registers is read in each block Data Yes E8h 17h 03h FCh The data read from the registers Controller sends MIS SMCResponse Write Address RegNum Len...

Page 350: ...l be transmitted from the MIS SMC Block description Controller sends MIS SMC response ExitSafe Address End Accept Block Name Protected Example Description ExitSafe No 55h 55h 55h Exit safe mode command Address Yes 07h F8h Address 7 The address of the MIS SMC End No AAh AAh Command termination Accept No 11h 11h 11h Accept from MIS SMC Controller sends MIS SMC response WriteFlash Address End Accept ...

Page 351: ...me Protected Example Description GWrite No 59h 59h 59h Group write command Group Yes 07h F8h Address 7 The group id of the MIS SMCs to write to Sequence Yes 04h FBh Sequence 4 The sequence number of the write RegNum Yes 05h FAh RegNum 5 The register number to write to Len Yes 02h FDh Len 2 The number of data bytes Data Yes E8h 17h 03h FCh Data 1000 The data to write to the register End No AAh AAh ...

Page 352: ... 1 16 bit Program pointer The current location of the program pointer 3 8 bit Stack pointer 4 16 bit Program checksum This checksum is calculated when the program is started 6 8 bit Input status 7 8 bit Output status Program state Name Description 0 Passive The program execution is stopped This state is only entered shortly at power up 1 Running The program execution is running 2 Single Step A sin...

Page 353: ... Industri Elektronik A S User Manual Integrated Stepper Motors MIS17x 23x 34x 43x 353 17 3 Ordering information See JVL s product part number builder using the following link http www jvl dk ppnb ppnb htm ...

Page 354: ...uired that the following cali bration procedure takes place Step 2 Press Reset position Step 1 Make sure the motor is free from any load and can rotate without any mechanical resistance Step 3 Press Clear errors Any errors shown should now disappear TT2554 01GB Step 4 Now go to the tab and Advanced write in the Command field and 350 hit enter The motor will now move 10 fast revolutions and 1 slow ...

Page 355: ...JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS17x 23x 34x 43x 355 18 Declarations ...

Page 356: ...L Industri Elektronik A S Bregnerødvej 127 DK 3460 Birkerød Denmark 45 45 82 44 40 jvl jvl dk www jvl dk Product No Name Type is in conformity with MIS231 232 and 234 Integrated Hybrid stepper motor Main no followed by R S T or Q incl subversions DIRECTIVE 2014 30 EU OF THE EUROPEAN PARLIAMENT AND OF THE COUNCIL of 26 February 2014 on the harmonisation of the laws of the Member States relating to ...

Page 357: ...ration nnn internal option module yx optional encoder options DIRECTIVE 2014 30 EU OF THE EUROPEAN PARLIAMENT AND OF THE COUNCIL of 26 February 2014 on the harmonisation of the laws of the Member States relating to electromagnetic compatibility and DIRECTIVE 2014 35 EU OF THE EUROPEAN PARLIAMENT AND OF THE COUNCIL of 26 February 2014 on the harmonisation of the laws of the Member States relating t...

Page 358: ...ute The tests have been performed as follows Vibration Standard EN IEC 60068 2 6 Test 5 25 Hz 1 6mm 25 500Hz 4 g 1 0 oct min 3 x 10 sweep cycles Shock Standard EN IEC 60068 2 27 Test Shock 15 g 30ms 6 x 1000 shocks All tested motors did function fully during and after the test At next page a test assessment for the MIS34x motors are shown Additional testdata for the other motor sizes can be reques...

Page 359: ...JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS17x 23x 34x 43x 359 18 2 Vibrationtest certificates Only MIS34x ...

Page 360: ...See the UL Online Certi cations Directory at www ul com database for additional information Only those products bearing the UL Certi cation Mark should be considered as being covered by UL s Certi cation and Follow Up Service The UL Recognized Component Mark generally consists of the manufacturer s identi cation and catalog number model number or other product designation as speci ed under Marking...

Page 361: ...m UL LLC Any information and documentation involving UL Mark services are provided on behalf of UL LLC UL or any authorized licensee of UL For questions please contact a local UL Customer Service Representative at http ul com aboutul locations Page 2 of 2 This is to certify that representative samples of the product as speci ed on this certi cate were tested according to the current UL requirement...

Page 362: ...362 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS17x 23x 34x 43x 18 4 TÜV certificate ...

Page 363: ...s 272 DS 301 device profiles 298 Node id and baud rate 273 CANopen network 268 Capacitor 13 CE requirements 355 Checksum 221 CiA membership 268 Clear errors 79 COB ID 271 285 288 Command 196 Command timing 346 Conditional jump multiple inputs 252 Conditional jump single input 251 Confidence alarms 29 Confidence check 28 Connecting the SMC75 Controller to the CAN bus 272 Connections MIS23x 37 SMC75...

Page 364: ...ce RS485 34 Iosetup 195 213 IP67 40 43 46 49 J Jump 251 Jump according to a comparison 262 Jump according to a register in the MAC motor 255 Jumps 251 252 255 262 L Life Guarding 306 M M12 38 49 MAB23x 01 342 MAB23x 02 342 MAC00 B1 B2 B4 Expansion Modules 39 40 42 43 45 46 48 49 MAC00 B4 cables 40 43 46 49 MacTalk 77 78 82 85 Main Loop Time 264 Max_P_Ist 200 Max_Voltage 221 Min bus voltage 166 Min...

Page 365: ... Supplies 341 Power Supply Capacitor 13 Power supply Grounding 14 Power supply SMC75 12 Profile position mode 295 Prog_Vers 189 235 Program comments 244 Program jumps 251 252 255 262 Program status and command 351 Programming 235 262 PSU05 045 341 PSU24 075 341 PSU24 240 341 PSU48 1000 341 PSU48 1500 341 PSU48 240 341 PSU48 800 341 Pull up resistor 22 Q QuickStep motors 9 R Read register 348 Read ...

Page 366: ...tor 79 Reset position 79 Resistors termination 35 RS232 RS485 348 RS485 interface 34 Run_Current 192 285 288 S Save in flash 79 Save position 256 Saving a file 80 Scope function 85 SDO Service Data Objects 301 Send FastMAC command 258 259 Serial communication 348 Serial_Number 221 Set a register in the MIS motor 255 Set operation mode 244 Set outputs 250 Set position 257 Setup_Bits 213 Short block...

Page 367: ...city accuracy 346 Velocity encoder factor 294 Velocity mode 10 147 295 Vn 205 Voltage Overload 25 W Wait for x ms before continuing 253 Wait for a register value before continuing 256 Wait for an input combination before continuing multiple inputs 254 Wait for an input combination before continuing single input 253 Write Register 349 Write to flash 350 Z Zero search 257 Torque 161 Zero search mode...

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