JVL MAC00-EC4, Руководство пользователя

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292 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors
12.4 Motor registers MISxxx
12.4.1 Register list for MIS motors.
Please notice: At the Ethernet modules all registers is transmitted as 32 bit.
Reg Name Size Access Range Default Unit Description MacTalk
name
1 PROG_
VERSION
32bit R ‐ ‐ Major*16 +
Minor +
16384 +
17*2^
14
The firmware version. The Bit 14 is set to indicate that the
type is a stepper motor controller, while bits [19:14] are set
to the specific motor type, where 17 means SMC85xx.
“Status bar”
2 MODE_REG 32bit R/W 0, 1, 2, 13,
14
0 ‐ Controls the operating mode of the motor.
0 : Passive
1 : Velocity mode
2 : Position mode
13 : Zero search type 1
14 : Zero search type 2
32: Cyclic Synchronous Position mode (Ethernet only)
Current Mode
3 P_SOLL 32bit R/W
( ‐ 2
31
) ‐ (2
31
‐
1)
0 Steps The desired position. When in position mode, the motor will
move to this position. This value can be changed at any time.
Position
4 Reserved (intended for 64 ‐ bit P_SOLL hi ‐ word)
5 V_SOLL 32bit R/W ‐ 300,000 ‐
300,000
10000 0.01 RPM The maxium allowed velocity. When in velocity mode the
motor will run constantly at this velocity.
Specify a negative velocity to invert the direction.
This value can be changed at any time.
Example: The value 25000 selects 250 RPM
Max velocity
6 A_SOLL 32bit R/W 1 ‐ 500,000 1000 RPM/s The acceleration/deceleration ramp to use. If this value is
changed during at movement it will first be active when the
motor stops or changes direction.
Acceleration
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 the driver:
C = 9 A, B = 6 A, A = 3 A.
Standby
Current
10 P_IST 32bit R/W
( ‐ 2
31
) ‐ (2
31
‐
1)
‐ Steps The actual position. This value can be changed at any time. Actual
position
11 Reserved (intended for 64 ‐ bit P_IST hi ‐ word)
12 V_IST 32bit R ‐ 300,000 ‐
300,000
‐ 0.01 RPM The current velocity. Actual
velocity
13 V_START 32bit R/W 1 ‐ 300,000 1000 0.01 RPM The start velocity. The motor will start the acceleration at
this velocity.
Start velocity
14 GEAR1 32bit R/W
( ‐ 2
31
) ‐ (2
31
‐
1)
409600 Counts The multiplier of the gear factor Output
15 GEAR2 32bit R/W
( ‐ 2
31
) ‐ (2
31
‐
1)
2048 Counts The divider of the gear factor Input
16 ENCODER_
POS
32bit R/W
( ‐ 2
31
) ‐ (2
31
‐
1)
‐ Steps If the encoder option is installed, this show the position
feedback from the encoder.
Encoder
position
17 Reserved (intended for 64 ‐ bit ENCODER_POS hi ‐ word)
18 INPUTS 32bit R ‐ ‐ Special The current status of the digital inputs. “Status bar”
19 OUTPUTS 32bit R/W ‐ 0 Special The current status of the digital outputs, can be written to
change the outputs.
“Status bar”
20 FLWERR 32bit R
( ‐ 2
31
) ‐ (2
31
‐
1)
‐ Steps When the encoder option is installed this shows encoder
deviation from the calculated position (P_IST).
Follow error
21 Reserved (intended for 64 ‐ bit FLWERR hi ‐ word)
!