JVL MIS23 Series, Руководство пользователя

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310 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x
16.2 MIS34/43/SMC85 Registers detailed
TT2400-01GB
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] ae 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 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 -3,000.00-
3,000.00 100 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
TT2401-01GB
Reg Name Size Access Range Default Unit Description MacTalk name
6 A_SOLL 32bit R/W 1-500,000 1000 RPM/s
2
The acceleration/decelleraion
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
12 V_IST 32bit R -3000.00 -
3000.00 - 0.01 RPM The current velocity. Actual velocity
13 V_START 32bit R/W 1-3000.00 1.00 0.01 RPM The start velocity. The motor will
start the acceleration at this
velocity. Start velocity
14 (GEAR1) 32bit R/W (-215)-(215-1) 1600 Counts The multiplier of the gear factor Output
15 (GEAR2) 32bit R/W (-215)-(215-1) 2000 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