JVL MAC00-EC4, Руководство пользователя

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JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 299
12.4 Motor registers MISxxx
Reg Name Size Access Range Default Unit Description MacTalk
name
172 EXT_
ENCODER_
VEL
32bit R
( ‐ 2
31
) ‐
(2
31
‐ 1)
‐ Counts/16ms This register is updated with the velocity of the
external encoder input. The velocity is measured
every 16ms.
External
encoder
Velocity
174 D_SOLL 32bit R/W 1 ‐
500,000
1000 RPM/s The deceleration ramp to use. If this value is
changed during at movement it will first be active
when the motor stops or changes direction. If 0,
A_SOLL is used for deceleration.
Deceleration
175 Internal_Encoder_Setup 32bit R/W ‐ ‐ Special Bit 0 ‐ 1: Hysteresis (0, 0.17, 0.35, 0.70 deg)
Bit 2 ‐ 4: Resolution (16,15,14,13,12*,11,10*,9)
Bit 5: Filter cutoff (16 kHz, 3 kHz)
Bit 6: Filter time (0, 1.2 us)
*Closed loop compatible
N/A
176 FW_BUILD 32bit R
0 ‐ (2
32
‐ 1)
‐ Counts Current firmware build number. “Status bar”
177 InTargetPositionTime 32bit R/W
0 ‐ (2
32
‐ 1) 10
ms Time the motor must stand still before
InTargetPosition flag is set.
N/A
179 BRAKE 32bit R/W
0 ‐ (2
32
‐ 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 supported yet!
180 ControlWord 32bit R/W 0 ‐ 65535 0 ‐ Object 6040 subindex 0
181 StatusWord 32bit R 0 ‐ 65535 0 ‐ Object 6041 subindex 0
182 ModeOf ‐ Operation 32bit R/W 0 ‐ 255 0 ‐ Object 6060 subindex 0
183 ModeOfOperationDisplay 32bit R 0 ‐ 255 0 ‐ Object 6061 subindex 0
184 Target ‐ Position 32bit R/W
( ‐ 2
31
) ‐ (2
31
‐ 1)
0 ‐ Object 607A subindex 0
185 Reserved
186 Actual ‐ Position 32bit R
( ‐ 2
31
) ‐ (2
31
‐ 1)
0 ‐ Object 6064 subindex 0
187 Reserved
188 Target ‐ Velocity 32bit R/W
( ‐ 2
31
) ‐ (2
31
‐ 1)
0 ‐ Object 60FF subindex 0
189 Reserved
190 ActualVelocity 32bit R
( ‐ 2
31
) ‐ (2
31
‐ 1)
0 ‐ Object 606C subindex 0
191 Reserved
192 Digital ‐ Outputs 32bit R/W 0 ‐ 65535 0 ‐ Object 60FE subindex 1
(Low 16bit)
193 Reserved
194 DigitalInput 32bit R 0 ‐ 65535 0 ‐ Object 60FD subindex 1
(Low 16bit)
195