JVL MIS17 Series, User Manual

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96 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x
5.2 Auto Correction
The relation between settings and behaviour of the In Physical Position flag can be seen
below.
5.2.4 Setup without MacTalk
If MacTalk is not used for setting up parameters/registers related to the auto correction
feature it must be done as follows.
The motor contains a number of registers which can be accessed from various protocols
depending at which options the motor has.
Protocols available are for example Ethernet (EthernetIP, Profinet etc.) and CANopen,
Modbus or the MacTalk protocol.
Each field in MacTalk described earlier in this chapter is accessing a register in the motor.
The registers that are relevant for auto correction operation are:
R33
- IN_POSITION_WINDOW
MacTalk name: “In Position Window”.
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.
See also: IN_POSITION_WINDOW , page 200
Only MISxxx--- H2/H3/H4 ---
TT2397-01GB
Desired/ideal behavior
The In Physical Pos. flag is not updated continously.
Only every time the motor stops the flag is updated.
The «In Physical 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 unstable until
the motor is settled completely. Notice that the flag indicate that target is reached a bit before the movement stop.
This is a consequence of have the window of 5000 counts.
The «In Physical Position» flag is updated continously and the «In Position Window» is set to 20000 counts
which is a very large window and the flag will only indicate if a very large position error is occuring.
Notice that the flag indicate that target is reached a bit before the movement stop. This is a consequence of
have the wide window of 20000 counts.
Requested move
Actual move
(actual motor velocity)
In Position Flag
(Based on ideal move)
In Physical Position Flag
(Without continuesly update)
In Physical Position Flag
(With In Position Window = 1)
In Physical Position Flag
(With In Position Window = 20000)
In Physical Position Flag
(With In Position Window = 5000)
Velocity
Time
Motor
stall
Retry
positioning
Settling time
before retry
Behavior for «In Pos.» and «In Phys. Pos.» flag
1
1
2
2
3
4
Actual behavior
4
3