LB0052-11GB
Contents
1. Only MAC800 Registers 0 7 VO 7 etc Reg MacTalk no Name Width Unit Description name 43 P REG P Long Int 44 V REG Long Int 45 A REG P Long Int 46 T REG P Long Int 47 L REG P Long Int 48 Z REG P Long Int Position register P1 Used with the fastmac protocol or 49 POSO Long Int Encoder counts by the MACOO R1 3 4 nanoPLC module See also P1 P SOLL register 3 51 POS1 Long Int Encoder counts Position register P2 see also register 49 P2 53 POS2 Long Int Encoder counts Position register P3 see also register 49 P3 55 POSS3 Long Int Encoder counts Position register P4 see also register 49 P4 57 POS4 Long Int Encoder counts Position register P5 see also register 49 P5 59 POS5 Long Int Encoder counts Position register P6 see also register 49 P6 61 POS6 Long Int Encoder counts Position register P7 see also register 49 P7 63 POS7 Long Int Encoder counts Position register P8 see also register 49 P8 Velocity register V1 Used with the fastmac protocol or 65 VELO Long Int Counts sample 16 by the MACOO R1 3 4 nanoPLC module See also V1 V SOLL register 5 66 VEL1 Long Int Counts sample 16 Velocity register V2 see also register 65 V2 67 VEL2 Long Int Counts sample 16 Velocity register V3 see also register 65 v3 68 VEL3 Long Int Counts sample 16 Velocity register V4 see also register 65 V4 69 VEL4 Long Int2. ACC EMERG must be set to 360 Error acceleration INPOSWIN Long In Encoder counts or encoder counts sample If the target position or velocity is reached within the tol erance specified in this window the motor is in position or at the velocity In pos window At vel window INPOSCNT Long In Samples The number of samples the motor has to be within the pos interval spec in INPOSWIN In pos count ERR STAT Long In Motor error status Bit 0 IT ERR Overload Bit 1 FLW ERR Follow error Bit 2 ERR Function error it 3 UIT ERR Regenerative error it 4 IN POS In position ACC FLAG Accelerating DEC FLAG Decelerating PLIM ERR Position limits error DEGC ERR Temperature error 4DEGCMAX UV ERR Under voltage error UV DETECT Low voltage at the high volt bus OV ERR Overvoltage error UB gt 450V IPEAK ERR Motor over current SPEED ERR Overspeed 3600RPM DIS P Software position limits disabled INDEX ERR Internal encoder error OLD_FILT_ERR Filter setting not valid U24V ERR Control supply has been too low Error monitor JVL A S Technical user Manual Integrated Servo Motors MAC800 Register overview Only MAC800 Reg MacTalk no Name Width Unit Description name 36 CNTRL_BITS Long Int Internal special bits Bit 0 RECORDBIT Controls t
3. Counts sample 16 Velocity register V5 see also register 65 V5 70 VEL5 Long Int Counts sample 16 Velocity register V6 see also register 65 V6 71 VEL6 Long Int Counts sample 16 Velocity register V7 see also register 65 V7 72 VEL7 Long Int Counts sample 16 Velocity register V8 see also register 65 V8 Acceleration register A1 Used with the fastmac proto 73 ACCO Long Int Counts sample 16 col or by the MACOO R1 3 4 nanoPLC module See A1 also A SOLL register 6 74 ACC1 Long Int Counts sample 16 Acceleration register A2 see also register 73 A2 75 ACC2 Long Int Counts sample 16 Acceleration register A3 see also register 73 A3 76 ACC3 Long Int Counts sample 16 Acceleration register A4 see also register 73 A4 Torque register T1 Used with the fastmac protocol or 77 TQO Long Int by the MACOO R1 3 4 nanoPLC module See also T1 T SOLL register 7 78 TQ1 Long Int Torque register T2 see also register 77 T2 79 TQ2 Long Int Torque register T3 see also register 77 T3 80 TQ3 Long Int Torque register T4 see also register 77 T4 Load register L1 Used with the fastmac protocol or by 81 LOADO Fixed16 the MACOO R1 3 4 nanoPLC module See also KVOUT L1 register 13 82 LOAD1 Fixed16 Load register L2 see also register 81 L2 83 LOAD2 Fixed16 Load register L3 see also register 81 L3 84 LOAD3 Fixed16 Load register L4 see also register 81 L4 In position register Z1 Used with the fastmac protocol 85 ZERO
4. L POT Long Int 156 S_ORDER Longint 3 157 OUTLOOPDIV Long Int E Sample registers Reg MacTalk no Name Width Unit Description name 158 SAMPLE1 Long Int 159 SAMPLE2 Long Int 160 SAMPLE3 Long Int 161 SAMPLE4 Long Int i 162 REC CNT Long Int p JVL A S Technical user Manual Integrated Servo Motors MAC800 1 2 Register overview Only MAC800 Outer loop registers Reg MacTalk no Name Width Unit Description name 163 V_EXT Long Int Speed at the external pulseinput if used a of 164 GV_EXT Long Int 165 G_FNC Long Int 166 FNC_OUT Fixed 16 167 FF_OUT Long Int 168 VB_OUT Long Int 169 VF_OUT Long Int Actual motor torque See also T_SOLL register 7 iu motor 170 ANINP Long Int Analogue input voltage VDC ANINP x 0 0048828 Analogue input 171 ANINP OFFSET Longlnt Analogue input offset Same scale as ANINP 170 Analogueinput Inner loop registers Reg MacTalk no Name Width Unit Description name 172 ELDEG_OFFSET Long Int 2 173 PHASE_COMP Long Int z 174 AMPLITUDE Long Int 175 MAN NOM Fixed 16 176 MAN_ALPHA Long Int 5 177 UMEAS Long Int 2 178 NOM Long Int 5 179 PHI_SO
5. LL Long Int E 180 lA SOLL Long Int 181 IB_SOLL Long Int z 182 IC_SOLL Long Int 2 183 IA IST Long Int 184 IB_IST Long Int 185 IC_IST Long Int 186 lA OFFSET Long Int 187 IB_OFFSET Long Int E 188 KIA Long Int 189 KIB Long Int 190 ELDEG_IST Long Int 5 191 V_ELDEG Long Int 192 UA_VAL Long Int 5 193 UB VAL Long Int 3 194 UC_VAL Long Int 5 195 Long Int 196 Long Int 197 Long Int Internal busvoltage 1VDC 0 888798 198 U_BUS Long Int Example U_BUS 366 is equal to 325VDC at the in Bus voltage ternal bus 199 U_BUS_OFFSET Long Int 200 TCO_CV1 Long Int T 201 TCO CV2 Long Int 2 13 JVL A S Technical user Manual Integrated Servo Motors MAC800 1 2 Register overview Only MAC800 Diverse Reg MacTalk no Name Width Description name MY_ADDR Long Int Motor adress Motor address MOTOR_TYPE Long Int Type of the MAC motor SERIAL_NUMBER Long Int The serial number of the MAC motor HW_VERSION Long Int Hardware version CHKSUM Long Int Firmware checksum JVL A S Technical user Manual Integrated Servo Motors MAC800 14 1 3 Serial communication Only MAC800 1 3 1 Serial Quick Guide M acTalk protocol This section describes control of the MAC800 motor via the serial interface RS232 485 connector the or equiv
6. Long int Shows the actual version of the firmware BitO 5 Minor version Bit6 12 Major version Bit13 if set Beta version Bit14 Reserved Bit15 if set MAC400 or MAC800 status bar MODE_REG Long int The current MAC motor mode see also register 37 Start mode Passive Velocity Position Gear Mode Analog Torque direct Analog Velocity Analog Velocity Gear 7 11 Reserved for special purposes 12 Torque zero search 13 Sensor type 1 zero search 14 Sensor type 2 zero search 16 Analogue velocity with deadband 17 Velocity analogue torque 18 Analogue gear 19 Coil 20 Air cylinder 21 Analogue to position P_SOLL Long Int Encoder counts The commanded position Position P_NEW Long Int Encoder counts Offset position for position change V_SOLL Long Int Counts sample 16 Desired velocity 1 RPM 2 77056 counts sample Example To obtain 100 RPM V_SOLL must be set to 277 Max velocity A_SOLL Long Int Counts sample 16 The desired nominal acceleration 1000 RPM s 3 598133 counts Sample Example To obtain 100000 RPM s A SOLL must be set to 360 Acceleration T SOLL Long Int The maximum allowed torque 0 1023 1023 300 full peak torque Torque P FUNC Long Int Encoder counts INDEX OFFSET Long Int Encoder counts Distance from encoder index to ext sensor P IST Long Int Encoder coun
7. MAC800 Integrated Servo Motors Preliminary Technical user manual J VL Industri Elektronik A S LB0052 11GB Revised 1 3 2006 Register definitions JVL A S Technical user Manual Integrated Servo Motors MAC800 1 1 Description of Data Formats Only MAC800 The MAC motor uses 3 different data formats e 16 Fixed24 Long Int 32 bit signed Range 2 147 9 2 147E9 Fixedl6 16 bit signed fixed point Range 32768 0 32767 9999847 Unit 65536 Fixed24 24 bit signed fixed point Range 128 0 127 99999994 Unit 16777216 JVL A S Technical user Manual Integrated Servo Motors MAC800 1 2 Register overview Only MAC800 When using the RS232 or RS422 serial links it is possible to access all the internal regis ters in the motor This gives the same possibilities as using the general installation and monitoring program MacTalk In addition to these features many more are accessible In total the MAC motor contains more than 200 internal registers such as nominal velocity actual position etc Important note All registers can be read without any risk but please note that several registers are not for the normal user and damage may occur if the contents of these registers is changed These registers are marked in grey in the table below Main Control Name Width Description MacTalk name PROG_VER
8. O Long Int or by the MACOO R1 3 4 nanoPLC module See also 21 INPOSWIN register 33 86 ZERO1 Long Int In position register Z2 see also register 81 Z2 87 ZERO2 Long Int In position register Z3 see also register 81 Z3 88 ZERO3 Long Int In position register Z4 see also register 81 Z4 Registers 89 to 120 are reserved for future purposes JVL A S Technical user Manual Integrated Servo Motors MAC800 1 2 Register overview Only MAC800 Filters main 6 th order servo filter Reg MacTalk no Name Width Unit Description name 121 KFF5 Fixed 24 T x 122 KFF4 Fixed 24 1 123 KFF3 Fixed 24 E 124 KFF2 Fixed24 E 125 Fixed 24 5 126 KFFO Fixed 24 3 127 KVFX6 Fixed 16 1 128 KVFX5 Fixed 16 3 129 KVFX4 Fixed16 E 130 KVFX3 Fixed 16 131 KVFX2 Fixed 16 E E 132 KVFX1 Fixed 16 E 5 133 KVFY5 Fixed 16 p 134 KVFY4 Fixed 16 135 KVFY3 Fixed 16 3 136 KVFY2 Fixed 16 E 137 KVFY1 Fixed 16 5 138 KVFYO Fixed 16 H 139 KVB4 Fixed 24 140 KVB3 Fixed 24 2 141 KVB2 Fixed 24 a 142 KVB1 Fixed24 3 143 KVBO Fixed 24 1 144 KIFX2 Fixed 16 145 KIFX1 Fixed 16 E 146 KIFY1 Fixed 16 147 Fixed 16 E E 148 KIB1 Fixed24 E 5 149 KIBO Fixed24 p 154 MODE
9. alent module The interface is RS232 compatible and uses 19200 baud with 8 data bits and no parity The MAC motor is completely controlled by reading and writing to registers The registers are numbered 1 255 The width of the registers is always 32 bits To protect the communication from errors the data is transmitted twice First the data byte is transmitted and then an inverted version 255 x is transmitted The easiest way to become familiar with the registers and MAC communication is to use the MacReglO program This program lists all of the registers and the serial commands sent and received can be monitored JVL A S Technical user Manual Integrated Servo Motors MAC800 1 Serial communication Only MAC800 123 2 Writing to a register Controller sends MAC motor response Write Address RegNum Len Data End Block description Block Name Protected 1 Example Description Write 52h 52h 52h Write command Address O7h F8h Address 7 The address of the MAC motor lt RegNum gt 05h FAh RegNum 5 The register number to write to lt Len gt 04h FBh Len 4 The number of data bytes E8h 17h 03h FCh lt Data gt 00h FFh 00h FFh Data 1000 lt End gt AAh AAh Command termination lt Accept gt 11h 11h 11h Accept from MAC motor The data to write to the register First byte LSB 1 Protected means that these data must be sent tw
10. data must be sent twice first non inverted and then inverted Example 1 Reading the value of register 5 from MAC motor with address 8 Transmit 50h 50h 50h 08h F7h O5h F6h AAh AAh Response 52h 52h 52h 0Oh FFh 05h F6h 04h FBh 58h A7h 02h FDh 00h FFh 00h FFh AAh AAh The value of register 5 was 500 258h Example 2 Reading the value of register 3 from MAC motor with address 8 Transmit 50h 50h 50h 08h F7h 03h FCh AAh AAh Response 52h 52h 52h 05h F6h 04h FBh 70h 8Fh 82h 7Dh 03h FCh 00h FFh AAh AAh The value of register 3 was 230 000 38270h 17 JVL A S Technical user Manual Integrated Servo Motors MAC800 Serial communication Only MAC800 1 3 4 Application examples Setting mode Velocity mode This command writes to register 2 MODE REG on motor 8 Transmit 52h 52h 52h 08h F7h 02h FDh 04h FBh 01h FEh 00h FFh 00h FFh 00h FFh AAh AAh Response Ih lIh l Ih Setting position 100 000 This command writes 100 000 to register 3 P SOLL on motor 8 Transmit 52h 52h 52h 07h F8h 03h FCh 04h FBh A0h 5Fh 86h 79h 0 h FEh O0h FFh AAh AAh Response Ih I Ih I Ih Reading the motor status This command reads register 35 ERR STAT from motor 8 Transmit 50h 50h 50h 08h F7h 23h DCh AAh AAh Response 52h 52h 52h 00h FFh 23h DCh 04h FBh 10h EFh 00h FFh 00h FFh 00h FFh AAh AAh The motor responded with ERR STAT 0010h meanin
11. e measurement Logic supply volt age VDC 24V x 0 013428 Logic supply FLWERRMAX Encoder counts Follow error limit If the follow error passes this limit the motor will be stopped and the FLW ERR in register 35 will be set EH Follow error UV HANDLE Long In Register to specify action when undervoltage is detect ed Bit 0 SET UV ERR Error if under voltage Bit 1 UV GO PASSIVE Go to passive mode Bit 2 UV VSOLLO Set speed 0 if u volt Set error bit Go to passive Set velocity to 0 FNCERR Long In Actual function error Function error FNCERRMAX Long In Function error limit If the function error passes this limit the motor will be stopped and the ERR in register 35 will be set EH Function error UVMIN Long In Register not used MIN IST Long Int Encoder counts Software position limit positive Position limit max DEGC Long Int Actual temperature Degree celcius DEGC x 0 12207 Temperature MAX P IST Long int Encoder counts Software position limit negative Position limit min DEGCMAX Long int Temperature limit Same scale as DEGC reg 29 If temperature gets higher than this limit the DEGC ERRiin register 35 is set ACC EMERG Long In Counts sample 16 The maximum allowed deceleration when a fatal error has occurred 1000 RPM s 3 598133 counts Sam ple Example To obtain 100000 RPM s
12. g In Position Setting the maximum speed This command sets the maximum speed to 1000 RPM 2771 pulses sample 2771 00000AD3h This is done by writing to register 5 V SOLL Transmit 52h 52h 52h 08h F7h O5h FAh O4h FBh D3h 2Ch 0Ah F5h 00h FFh 00h FFh AAh AAh Response Ih lIh l Ih Reading the actual position This command reads register 10 IST from motor 8 Transmit 50h 50h 50h 08h F7h OAh F5h AAh AAh Response 52h 52h 52h OO0h FFh OAh F5h 04h FBh 08h F7h BDh 42h 03h FCh 00h FFh AAh AAh The position was 245 000 counts 3BD08h JVL A S Technical user Manual Integrated Servo Motors MAC800 18 JVL A S Technical user Manual Integrated Servo Motors MAC800
13. he samplebuffer Bit 1 REWINDBIT Controls the samplebuffer Bit 2 RECINNERBIT Controls the samplebuffer Bit 3 RELPOSPSOLL Relative move using P_SOLL Reg move type Bit 4 RELPOSPFNC Relative move using P_FNC Reg move type Bit 5 SYNCPOSAUTO Syncronize int Position regs Resync pos Bit 6 SYNCPOSMAN Same as bit 5 but manually Bit 7 MAN NO BRAKE Disables the brake if set Disable brake Bit 8 SYNCPOSREL Offset P_IST with P_NEW Bit 9 INDEX HOME Use index after zero search Use index aft 3T START MODE Long Int The mode used after power up See also register 2 Mode 38 P HOME Long Int Encoder counts Motor position after zero search En 39 HW_SETUP Long Int Hardware setup bits Bit 0 DIRAWR Bit 1 DIRBWR Bit 2 PULSEOUT Bit 3 XSEL1 Bit 4 XPRINP Bit 5 NOFILT Bit 6 INVXDIR Speed d duri h Speed defined Z h 40 V_HOME Long Int Counts sample 16 used during zero search Speed defined as reg 2 Torque used for Torque zero search sign defines Zero search 41 T_HOME Long Int 7 polarity of the zero search sensor torque Zero search mode The type of zero search Zero search 42 HOME MODE Eongint Bit 16 Done bit 16 mode JVL A S Technical user Manual Integrated Servo Motors MAC800 1 2 Register overview
14. ice first non inverted and then inverted Example 1 Writing 600 258h to register 5 16 bit to the MAC motor with address 8 Transmit 52h 52h 52h 08h F7h 05h FAh 04h FBh 58h A7h 02h FDh 00h FFh 00h FFh AAh AAh Response Ih I Ih 11h Example 2 Write 230 000 38270h to register 3 32 bit to the MAC motor with address 7 Transmit 52h 52h 52h 07h F8h 03h FCh 04h FBh 70h 8Fh 82h 7Dh 03h FCh 00h FFh AAh AAh Response 1 Ih I Ih 11h JVL A S Technical user Manual Integrated Servo Motors MAC800 l6 1 3 Serial communication Only MAC800 1 3 3 Reading from a register Controller sends MAC motor response Read Address RegNum End Write Address RegNum Len Data End Block description Block Name Protected 1 Example Description Read 50h 50h 50h Read command Address 07h F8h Address 7 The address of the MAC motor lt RegNum gt 05h FAh RegNum 5 The register number to read lt End gt AAh AAh Command termination lt Write gt 52h 52h 52h Write command lt Address gt 00h FFh Address 0 lt RegNum gt 05h FAh RegNum 5 This will always be the same as requested lt Len gt 04h FBh Len 4 The length will always be 4 E8h 17h 03h FCh The data read from the register FER OOn FER lt End gt AAh AAh Command termination 1 Protected means that these
15. ts The actual motor position Actual position V IST 16 Long Int Counts sample 16 V IST actual speed measured over 16 samples Same unit as V SOLL register 5 Actual velocity V IST Long Int Counts sample Actual velocity 1RPM 0 17316 counts sample KVOUT Fixed 16 Overall servo filter inertia factor Load GEARF 1 Long Int Gear output factor Used in gear mode Input GEARF 2 Long Int Gear input factor Used in gear mode Output JVL A S Technical user Manual Integrated Servo Motors MAC800 1 2 Register overview Only MAC800 Error Handling Description MacTalk name Motor temperature calculated The value is integrated during motor operation If it reaches 100 the overload bit in reg 35 ERR STAT bit 0 is set indicating that the motor torque has passed the allowable continues rating 7 nominal torque Motor load mean IZTLIM Error trip level used for I2T register Returned energy from the motor load If the value passes 100 the UIT bit in register 35 ERR STAT bit 3 is set indicating that too much energy has been re turned from the motor load Connect an external dump resistor or decrease deceleration Regenerative load UITLIM Error trip level used for UIT register FLWERR Encoder counts Actual follow error Follow error U 24V VDC 74 4713 Logic supply voltag
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LB0052 11GB