JVL MIS17 Series, User Manual

Page: 139 / 367

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x 139
5.12 Turn Table Mode
5.12.1 General description
Please note: The Turn Table Mode is only available under following conditions:
1. MIS34x/43x: Hardware need to be version 1.7 or newer. MIS17x/23x: all hardware
versions support turn table mode.
2. Firmware need to be version 4.06 or newer.
3. Serial number need to be 173.000 or newer.
All 3 conditions have to be met. See also How to get SW/HW motor info , page 89
The Turn Table Mode, also sometimes called Dividing head, Indexing table or Rotary Ta-
ble, makes the motor work in three different ways that limits the actual position and tar-
get position to a smaller position range than normal. This is useful for supporting some
mechanical systems.
One of the strong features of this is the motor’s ability to calculate the shortest move-
ment to a new target position automatically.
The option can also be used to have the motor always move in the same direction for
any target position value even if the new target position value is below the old position
in this case the motor will turn in the configured CW or CCW direction until it returns
to the lower target position.
The actual position will not overflow even when always running 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 (-2
31
) - (2
31
)-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 motor (±2
31
counts).
Whenever the actual position exceeds the maximum it will wrap around and continue
from the minimum position while still running in the same direction.
Also when moving below the minimum position it will wrap around and continue to
count down from the maximum position.
During operation the motors main operation mode is usually set to Position mode
(MODE_REG = 2), and the motor is commanded to a new target position by writing a
new value to the Target Position, register 3, P_SOLL. See also - Modes other than Position
mode , page 144.
The value written to P_SOLL should be within the Turn Table position range. If the value
is outside the working range specified by “Turn table pos. min.” or “Turn table pos. max”
it will be clipped to be within the values specified by “Turn table pos. min.” or “Turn table
pos. max” . To make a full turn in CW or CCW mode, a multiturn operation is supported
see following illustration. The registers normally used for software position limits are
used to define the Turn Table working range in Turn Table Mode operation.
(Continued next page)
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