JVL MIS17 Series, User Manual

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196 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x
8.2 Internal registers
8.2.20 Command
Description: Used to issue commands to the motor.
There are 2 kind of commands
•
FastMac commands:
A FastMac command typically excecutes multiple operations by only one command.
These commands is therefore very usefull if timing is critical. Often FastMac com-
mands are used in a eRxP program.
•
General commands:
These commands are a kind of system commands which can be used to activate or
read speciel functions/values inside the motor/controller.
All the FastMac and general commands is defined as a number which is simply written to
the COMMAND register.
Number 0-128 are the FastMac commands.
The values 128-255 are reserved.
Commands number 256 and higher is the Normal commands.
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 (FastMac 12) Set P_SOLL = Position register 1
Set V_SOLL = Velocity register 1
Set A_SOLL = Acceleration register 1
Set Running current = Current register 1
109 (FastMac 13) Set P_SOLL = Position register 2
Set V_SOLL = Velocity register 2
Set A_SOLL = Acceleration register 2
Set Running current = Current register 2
110 (FastMac 14) Set P_SOLL = Position register 3
Set V_SOLL = Velocity register 3
Set A_SOLL = Acceleration register 3
Set Running current = Current register 3
111 (FastMac 15)
Set P_SOLL = Position register 4
Set V_SOLL = Velocity register 4
Set A_SOLL = Acceleration register 4
Set Running current = Current register 4