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LB0048-06GB

1. 16 32 Parameter and Data Registers issiria isori iiss ors 17 4 Program Function Description 53 4 1 Function blocks Profile Generation 54 42 Speed Regulator sss e 64 4 3 Current Reg lat r cp aD po eve Le VERRE UE MEAE FERE Fo EVER ERR RE 65 4 4 Mo p EA 66 4 5 Monitoring 84 5 Interface Description 89 5 1 MacTallcProtocol eei dete eter terit eo ete y ss ashi 90 5 2 FastMAG FlexMAC ebbe u s 92 6 Expansion Modules I03 6 1 MACOO RI R3 reet eter tere rie he ee ae euge 104 7 Index u i ass y JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 3 4 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 Introduction JVL In
2. Input z 23 See Speed Regulator page 64 3 2 106 KIFX2 Register 106 3 2 107 KIFX1 Register 107 3 2 108 KIFY1 Register 108 3 2 109 KIFYO Register 109 Data format Fixed4 Range 7 9997 These 4 registers contain coefficients for filter IF Filter transfer function Output z KIFX2 z KIFXI 2 Input z z KIFYI z KIFYO Note the change of sign in the transfer function See Current Regulator page 65 Warning Incorrect setting of these coefficients can cause ir reparable damage and destroy the motor and circuitry since control of the phase currents may be lost JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 41 3 2 Parameter and Data Registers 3 2 110 Register 110 3 2 111 KIBO Register 111 Data format Fixed8 Range 127 996 These 2 registers contain coefficients for filter IB Filter transfer function Output z KIBI z KIBO Input z 5 7 See Current Regulator page 65 Warning Incorrect setting of these coefficients can cause ir reparable damage and destroy the motor and circuitry since control of the phase currents may be lost 42 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 352 Parameter and Data Registers 322 112 3 2 113 3 2 114 3 2 115 3 2 116 3224527 3 2 118 3 2 119 SAM PLE1 Register 112
3. 50 95 140 and 141 39 3 2 Parameter and Data Registers 3 2 89 KFF3 Register 89 3 2 90 KFF2 Register 90 3 2 91 KFF1 Register 91 3 2 92 KFFO Register 92 93 94 95 96 97 98 99 100 UJ O C0 WW UU NNNNNNN Data format Fixed8 Range 127 996 These 4 registers contain coefficients for filter FF Filter transfer function Output z 23 KFF2z z KFFO Input z 7 See Speed Regulator page 64 KVFX4 Register 93 KVFX3 Register 94 KVFX2 Register 95 KVFX1 Register 96 KVFY3 Register 97 KVFY2 Register 98 KVFY1 Register 99 KVFYO Register 100 Data format Fixed4 Range 7 9997 These 8 registers contain coefficients for filter VF Filter transfer function Output z KVFX4 z 23 KVFX2 z KVFXI z Input z 24 KVFY3 23 KVFY2 z KVFYI z KVFYO Note the change of sign in the transfer function See Speed Regulator page 64 40 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 32 Parameter and Data Registers 3 2 101 GEARB Register 101 3 2 102 KVB3 Register 102 3 2 103 KVB2 Register 103 3 2 104 Register 104 3 2 105 KVBO Register 105 Data format Fixed8 Range 127 996 These 5 registers contain coefficients for filter VB Filter transfer function Output z KVB3 z KVB2 z KVBI z KVBO GEARB
4. For example this mode of operation can be used in applications where two or more mo tors must be fundamentally operated synchronously for manufacturing of e g sheet ma terial The analogue input here is used for fine tuning the synchronisation if the material is stretched or wrinkled during manufacture M anual Mode MANI MODE MODE 7 In this mode of operation the configuration is as follows e Function block None e Speed Regulator Passive e Current Regulator Active e Correction of function block Passive Primary parameters MAN NOM Nominal peak current See MAN NOM Register 128 page 46 MAN Electrical commutation angle See MAN ALPHA Register 129 page 46 The following primary registers and flags are updated in MANI MODE P IST Measured position V IST Measured velocity FLWERR 0 FNCERR 0 FLW_ERR 0 IN_POS 0 This mode of operation is used for manual control of the stator field It is used for ex ample in conjunction with adjustment of ELDEG OFFSET See ELDEGP_OFFSET Register 125 page 45 ELDEG IST Register 143 page 48 TESTU MODE MODE 8 In this mode of operation the configuration is as follows Function block None Speed Regulator Passive Current Regulator Passive e e e e Correction of function block Passive JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 73 4 4
5. The block s function can be described as follows P NEW ANINP P2 16 IF P NEW P SOLL THEN P NEW P NEW P3 IF P NEW lt SOLL THEN P SOLL NEW ELSE P NEW P NEW IF P NEW gt SOLL THEN P SOLL P NEW P2 is used for gearing between the analogue voltage and digital position Pl is used for the position offset P3 is used to specify an analogue deadband The purpose of this deadband is on the basis of an input function to produce an output function in which the dynamic variation is minimal at the same time as ensuring the output function s deviation from the input function is maximum the width of the deadband The function is illus trated below JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 61 4 1 Function blocks Profile Generation Position input Position output Deadband 1 TT1004GB When P_SOLL is calculated execution of the rest of the block s function is in principle the same as that of the Position function block See Position function block page 55 When selecting gearing between the analogue voltage and digital position and when choosing the bandwidth of the analogue deadband account must be taken of the fact that the analogue signal contains noise Similarly some quantisation noise in the AD conver sion must be anticipated If this noise is transformed to significant noise in P_S
6. 22 66 82 MODE REG 23 66 82 MODE 24 66 82 MODE REG 3 66 69 MODE REG 4 66 70 MODE REG 5 66 72 MODE 6 66 72 MODE REG 7 66 73 MODE REG 8 66 73 112 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors MAC5O 95 140 and 141 7 Index MODE 9 66 74 Modes 17 66 83 Acceleration Test mode 74 Analog mode 66 Analog Torque mode 70 Analog velocity mode 66 72 Analogue 2 Position mode 81 Analogue Gear mode 79 Analogue Position mode 81 Analogue Velocity Mode with Deadband 78 BREAK MODE mode 66 75 Coil mode 79 Gear Follow mode 82 Gear mode 66 69 Gear mode Analog velocity mode 66 72 Homel mode 66 75 Home2 mode 66 76 Home3 mode 66 77 Init mode 66 67 Manual mode 66 73 Position mode 66 69 Programming mode 66 78 Safe mode 78 STOP MODE mode 66 75 TESTA MODE mode 66 74 TestKl mode 82 TestTQ mode 82 TESTU MODE mode 66 73 Velocity Analogue Torque mode 79 Velocity mode 66 68 Monitoring functions 84 87 Follow error 86 Function error 86 DT 85 Software end of travel limits 85 UIT 85 Undervoltage detection 86 MOTOR TYPE 50 MYADDR 50 Operation modes 17 66 83 Analog mode 66 Analog Torque mode 70 Analog velocity mode 66 72 Analogue 2 Position mode 81 Analogue Gear mode 79 Analogue Position mode 81 Analogue Velocity Mode with Deadband 78 BREAK MODE mode 66 75 Coil mode 79 Gear Follow mode 82 Gear mode 66 69 Gear mode Analog vel
7. FNC OUT Current Loops Function FF filter Block 3rd order Encoder 4096 cpr Velocity and position loop TT0997GB 64 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 4 3 Current Regulator 4 3 1 Current regulator The input to the current regulator is always the contents of the register VF_OUT which is the output of The speed regulator See Speed Regulator page 64 e The torque function block See Torque function block page 58 On the basis of VF_OUT torque the amplitude and commutation angle 1 NOM PHI SOLL for the stator field are calculated See ELDEGN_OFFSET Reg ister 124 page 45 ELDEGP OFFSET Register 125 page 45 PHASE COMP Reg ister 126 page 45 PHI SOLL Register 32 page 47 ELDEG IST Register 143 page 48 ELDEG Register 144 page 49 The three phase currents are calculated as follows e IA SOLL NOM AMPLITUDE sin PHI SOLL e IB SOLL 1 NOM AMPLITUDE sin PHI SOLL 120 electr degrees e IC SOLL I AMPLITUDE sin PHI SOLL 240 electr degrees See IA SOLL Register 133 page 47 and AMPLITUDE Register 127 page 46 The three phase currents are regulated as illustrated below See also KIFX2 Register 106 page 41 Register 1 10 page 42 regarding the current filters Converter VF OUT From velocity and position filte
8. R3 or R4 also called the NanoPLC comprises Six logical hardware inputs Four logical hardware outputs A 16 bit timer 16 bit counter AFastMAC FlexMAC communication port for communication with the MACmotor basic PCB AMACtalk communication port for communication with the user The NanoPLC is programmed as a sequence machine with up to 63 sequence steps The sequencing program can be transmitted via the MACtalk communication port and saved in FLASH memory Sequence M achines In a sequence machine the control process is divided into sequence steps At each se quence step the process state is know e g the direction of rotation of the motor Therefore in any given sequence step it is normally only necessary to monitor a few log ical states For example it is not necessary to monitor an end of travel limit when it is known that the motor is moving away from the end stop In a sequence machine only the states and commands that are associated with the cur rent sequence are evaluated and executed Sequence Steps At any given sequence step one or more conditions can be programmed for execution of one or more commands Programming a sequence step is done by specifying one or more sequence terms in a se quence table Format of Sequence Terms A sequence term consists of 8 bytes in the sequence table A sequence term can be divided into a conditional statement and a command statement The conditio
9. odes 4 4 10 Parameters e UMEAS Applied voltage step during measurement See UMEAS Register 30 page 47 This mode of operation performs the following function e SAMPLE 145 Sample UA VAL to the sample buffer See SAMPLE I Register 12 page 43 e SAMPLE2 139 Sample IC IST to the sample buffer REWINDBIT l Sample from start of buffer See CNTRL BITS Register 36 page 32 e RECINNERBIT l Sampling frequency 7812 Hz See CNTRL BITS Register 36 page 32 RECORDBIT Start sampling See CNTRL BITS Register 36 page 32 UA VAL UMEAS UC VAL UMEAS Sampling is carried out for sampling periods Switch to INIT MODE Using the measurements in the sample buffer the transfer function of the motor coils can be identified TESTA MODE MODE 9 In this mode of operation the configuration is as follows Function block None e Speed Regulator Passive e Current Regulator Active e Correction of function block Passive Parameters e T SOLL Applied torque during measurement This mode of operation performs the following function e SAMPLE 7 Sample T SOLL to the sample buffer See SAMPLE I Register 1 12 page 43 e SAMPLE2 12 Sample V IST to the sample buffer REWINDBIT l Sample from start of buffer See CNTRL BITS Register 36 page 32 e RECINNERBIT 0 Sampling frequency 520 8 Hz See CNTRL BITS Register 36 page 32
10. page 54 FLW ERR See ERR STAT Register 35 page 31 ACC FLAG See STAT Register 35 page 31 and Velocity function block page 54 DEC FLAG See ERR STAT Register 35 page 31 and Velocity function block page 54 In this mode of operation a change to INIT MODE always occurs via STOP MODE in order to protect the motor 68 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 4 4 odes 4 4 3 4 4 4 Position Mode In Position Mode the configuration is as follows e Function block Position function block See Position function block page 55 e Speed Regulator Active See Speed Regulator page 64 e Current Regulator Active See Current Regulator page 65 e Correction of function block Active See Position function block page 55 This implies that in Position Mode the parameters are interpreted as follows e P SOLL Required absolute position e V SOLL Maximum velocity to achieve required position e SOLL Maximum allowable acceleration deceleration to achieve required position e T SOLL Maximum allowable torque to achieve required position The following registers and flags are updated in Position Mode P IST See P IST Register 10 page 22 IST See V IST Register 12 page 23 FLWERR Accumulated value of velocity error See ERR STAT Register 35 page 31 FLWERR Register 20 page 27 and Foll
11. 0 of this byte indicate together with the CARE byte the status of hardware in puts before the conditional statement is evaluated as true See CARE byte Bit 6 INPOS bit indicates together with the CARE byte if the MACmotor must be In position before the conditional statement is evaluated as true See CARE byte Bit 7 ERROR bit indicates if the MACmotor must be In Error before the conditional statement is evaluated as true The CARE byte has no influence on evaluation of this bit CARE byte Bits 6 0 of this byte indicate care don t care masks for the corresponding bits in the INPUT byte For example The following condition is to be programmed Hardware input 0 Hardware input 3 0 INPOS bit ERROR bit 0 Or more formally IF INPUTO AND NOT INPUT3 AND INPOS AND NOT ERROR THEN The condition is programmed as INPUT byte 0 1 X X 0 X X 1 CAREbyte x 1001001 Bit 7 of the CARE byte CMD_FORMAT bit indicates the format of the command state ment for the sequence term See following section 106 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 6 1 MACOO R1 R3 R4 6 1 6 6 1 7 Command Statement of the Sequence Term The command statement of a sequence term consists of 5 bytes The command statement can be programmed in two different formats denoted as the FastMAC format and the FlexMAC format In FastMAC format
12. 1023 If the required current in a phase is specified as this maximum value any overshoot during regulation of this current will not be measured and the physical current in the phase cannot be controlled The regulation program calculates the maximum required phase current as follows 1023 AMPLITUDE The maximum value of AMPLITUDE is thus restricted to 0 83 so that any overshoot in 1023 0 83 850 is measured Warning Setting the AMPLITUDE to a value greater than 0 83 can cause irreparable damage and destroy the motor and circuitry See Current Regulator page 65 and IA SOLL Register 133 page 47 3 2 128 MAN NOM Register 128 3 2 129 MAN ALPHA Register 129 Data format Word Range MAN NOM 0 1023 Range MAN ALPHA 0 2047 These registers are used in MANI MODE for manual set up of the motor s stator field In MANI MODE the three phase currents will be determined by e SOLL MAN I NOM ALPHA AMPLITUDE e IB SOLL MAN I NOM sin MAN ALPHA 120 elect degrees AMPLITUDE e SOLL MAN I NOM sin MAN ALPHA 240 elect degrees AMPLITUDE Units for MAN NOM Dependent on motor type Units for MAN ALPHA 360 2048 ELECT DEGREES 0 176 elect degrees See Current Regulator page 65 SOLL Register 133 page 47 and AMPLITUDE Register 127 page 46 46 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 352
13. Modes page 66 describes how the function blocks regulation loops and parameters are used in the various modes The software also includes certain monitoring functions These are described in Moni toring Functions page 85 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 53 4 1 Function blocks Profile Generation The software includes 7 different function blocks for generation of velocity profiles or torque profiles Velocity function block See Velocity function block page 54 Position function block See Position function block page 55 Gear Follow Function block See Gear Follow Function block page 57 Torque function block See Torque function block page 58 AV function block See AV function block page 58 AVG function block See AVG function block page 59 Stop function block See Stop function block page 59 AG function block See Analogue Gear Function block page 60 Analogue 2 Position function block See Analogue 2 Position function block page 60 Analogue Position Function block See Analogue Position function block page 61 e Gear Position Function block See Gear Position Function block page 62 The following sections explain the function of each of these blocks 4 1 1 Velocity function block This function block generates a velocity profile with the following parameters e V SOLL Required v
14. during deceleration See SOLL Register 6 page 20 Use of ACC EMERG can be disabled by setting ACC EMERG 0 INPOSWIN Register 33 INPOSCNT Register 34 Data format Word Range O 32767 In Position mode Gear mode and related modes Via these registers the user can specify conditions to define when the motor is in posi tion NPOSWIN specifies the number of encoder counts from which the motor position may deviate from the correct position Note that the motor is only in position when the deviation in position is less than the value of INPOSWIN If the deviation in posi tion is equal to the value of INPOSWIN the motor is not in position e INPOSCNT specifies the number of successive samples for which this tolerance must be maintained The purpose of INPOSCNT is to ensure that an overshoot in position in which a sampled position is within the interval specified by INPOSWIN does not result in an indication that the correct position has been reached Once the motor is in position according to the specified conditions the following occurs POSbitis set in accordance with conditions that are dependent on the mode of operation See Position Mode page 69 Gear Position Mode GP MODE MODE 3 page 69 ERR STAT Register 35 page 31 Recommended value for INPOSCNT 3 5 In Velocity mode and related modes Via these registers the user can specify conditions to define when the m
15. e Function block Gear Follow function block See Gear Follow Function block page 57 Speed Regulator Active See Speed Regulator page 64 Current Regulator Active See Current Regulator page 65 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 83 4 4 odes Correction of function block Active See Gear Follow Function block page 57 This implies that in this mode of operation the primary parameters are interpreted as fol lows GEARF GEARF2 Gear factor GEARFI GEARF2 Reversal of the direction of rotation can be made by changing the sign of GEARFI Nominally in GEAR MODE the motor is driven with 4096 pulses per revolution If it is required to drive the mo tor at 500 pulses per revolution GEARF GEARF2 is specified as 4096 500 or more optimally 1024 125 See Register 14 page 25 V SOLL Maximum velocity for compensating for follow error See SOLL Reg ister 5 page 19 A SOLL Maximum allowable acceleration deceleration for compensating for fol low error See A SOLL Register 6 page 20 T SOLL Maximum allowable torque to achieve required position See T SOLL Register 7 page 21 The following primary registers and flags are updated in Gear Mode P IST See P IST Register 10 page 22 IST See IST Register 12 page 23 FLWERR Accumulated value of velocity error See ERR STAT Register
16. 3 2 Parameter and Data Registers 3 2 120 V EXT Register 120 Data format Integer This register contains the number of counts at the pulse input during the last sampling period Sampling frequency 520 8 Hz The register is updated in the following modes of operation e MODE See Init Mode page 67 See Gear Position Mode GP_MODE MODE 3 page 69 AVG MODE See Analogue Velocity Gear Mode MODE MODE 6 page 72 e AG MODE See Analogue Gear Mode AG MODE MODE 18 page 79 COIL_ MODE See Coil Mode COIL_ MODE MODE 19 page 79 3 2 121 VF OUT Register 121 Data format Integer This register contains output torque from filter VF See Speed Regulator page 64 Range 1023 3 2 122 ANINP Register 122 Data format Integer This register contains the measured voltage at the analogue input ANINP OFFSET See OFFSET Register 123 page 44 The register is used in the following modes of operation e Analog Torque mode MODE See Analog Torque Mode MODE MODE 4 page 70 e Analog Velocity mode MODE See Analog Velocity Mode AV MODE MODE 5 page 72 e Analog Velocity Gear mode AVG MODE See Analogue Velocity Gear Mode AVG MODE MODE 6 page 72 e Home2 mode See HOME2 MODE MODE page 76 e Home3 mode See HOME3 MODE 14 page 77 The register is updated
17. 3h ECh 07h F8h AAh AAh From master to unit 13h Retransmit contents of parameter number 7 Unit 13h has no knowledge whether this parameter is in integer or longint format Therefore the parameter is always retransmitted as if it is longint format If it is assumed that parameter number 7 is in integer format with the value 47 Ih and it is assumed that the value of parameter number 8 has the value 0000h the following will be retransmit ted 52h 52h 52h 00h FFh 04h FBh I h EEh 47h B8h 00h FFh 00h FFh AAh AAh Note that communication is made in big endian format Example Message 52h 52h 52h Oh EFh 08h F7h 02h FDh 22h DDh 33h CCh AAh AAh From master to unit 10h Overwrite parameter number 08h with the value 3322h Accept is retransmitted by the unit by I Ih IIh TlIh Example Message 54h 54h 54h 7h EBh AAh AAh From master to unit 7h Go to safe mode Accept is retransmitted by the unit by I Ih IIh IlIh Note that after a writeparmflashsync and a resetsync no accept is retransmitted JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 9 52 FastMAC FlexMAC 52 1 5 2 1 1 5 2 1 2 The user interface can be configured to communicate using the FastMAC FlexMAC protocol See CNTRL_BITS Register 36 page 32 The FastMAC protocol is designed to achieve rapid communication by limiting all com mands and responses to byte On the rather h
18. Integrated Servo Motors 50 95 140 and 141 9 2 1 Installation MacReglO exe uses two data files Bintalk dat This file describes the register names and register formats for various registers Bitdefs dat Certain registers contain single bits or groups of bits This file describes the names of these bits as well as explanatory names of their status All three files must be installed in the same folder directory 10 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 141 2 2 Description of MacReglO Windows The screen of the MacReglO software consists of 5 windows and 9 buttons as illustrated below MacReglO Mode 50 141 MAC400 800 5 75 Serial Port cout v Address 255 Version 1 18 MacBasic NanoPLC Profi MACOO FSx MAINCONTROL HERRERA RRR MODE_REG P_SOLL V SOLL A SOLL SOLL P SIM P_IST V_IST KVOUT Integer Longint Integer Integer Integer Longint Longint Integer 0000000 GEARF1 Integer FRAME_ERR_TX GEARF2 word RELPOSPSOLL RELPOSFNC ERROR_STATUS HERRERA ARR REE ooooooooooo 2000000000000000000000 ms N A aff aT Software reset Enter Safemode Write To Flash Exit Safemode Clear Samples Send Recieved TT0999GB Parameter Window upper left This window displays parameter numbers parameter names parameter values a
19. Parameter and Data Registers 3 2 130 3 2 131 3 2 132 3 2 133 3 2 134 3 2 135 3 2 136 UMEAS Register 130 Data format Word Range 0 100 In conjunction with identification of the motor coil transfer function a voltage step func tion is applied to the motor coils UMEAS specifies the amplitude of this voltage step The register is used in TESTU MODE See TESTU MODE MODE 8 page 73 NOM Register 131 PHI SOLL Register 132 Data format Word Intended for debug purposes only IA SOLL Register 133 IB SOLL Register 134 IC SOLL Register 135 Data format Integer Range 850 850 These data registers specify input values for the three current regulation loops See Current Regulator page 65 and AMPLITUDE Register 127 page 46 IX SELECT Register 136 Data format Word Intended for debug purposes only JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 47 3 2 Parameter and Data Registers 32 137 3 2 138 3 2 139 3 2 140 3 2 141 3 2 142 3 2 143 IA IST Register 137 IB IST Register 138 IC IST Register 139 Data format Integer Range 1023 1023 These data registers specify measured values for the three phase currents See Current Regulator page 65 IA OFFSET Register 140 IB OFFSET Register 141 IC OFFSET Register 142 Data format Word Range 0 2047 Typical 1000 1
20. the command statement contains a command one byte which can be transmitted to the MAC motor using the FastMAC protocol In FlexMAC format the command statement contains a register number and register da ta so that a register value can be written to the MAC motor using the Flex MAC proto col FastM AC Format This format is used if the CMD FORMAT bit 0 In FastMAC format the command statement contains 3 bytes word in all 5 bytes NEXT STATE byte FAST COMMAND byte OUTPUT byte TIMER COUNTER word NEXT STATE byte Bits 5 0 indicate the number of the sequence step to switch to if the conditional state ment is evaluated as true If bits 5 0 are specified as 3Eh this is interpreted as an illegal number and no switch is made Bit 6 CNT TIME bit indicates if the value of the TIMER COUNTER word is a counter value TIME bit or a timer value TIME bit 0 The timer or counter value is preset if the conditional statement is evaluated true and TIMER COUNTER word gt 0 If the TIMER COUNTER word 0 the timer or counter value is not up dated It is thus not possible to reset the timer or counter by setting COUNTER TIMER word 0 Bit 7 Available FAST_COMMAND byte Bits 6 0 specify the command to be transmitted to the MACmotor using the FastMAC protocol See MAC User Manual section x x x Bit 7 FAST_DIS bit indicates if the command is to be transmitted to the MACmotor if the
21. 12 REL RESYNC is set The re synchronisation is absolute if bit 12 REL RESYNC is reset Bit 9 AUTO RESYNC When this bit is set an automatic re synchronisation of position is carried out every time the motor is in INIT MODE This re synchronisation is always absolute Bit 8 RECINNERBIT Record Inner loop For data sampling to the sample buffer either the sampling frequency for current loops inner loop 7812 Hz or the sampling frequency for velocity position loops 520 8 Hz can be used If RECINNERBIT is set a sampling frequency of 7812 Hz for data acquisition See SAMPLE Register 112 page 43 Operation page 13 TESTU MODE MODE 8 page 73 TESTA _MODE MODE 9 page 74 32 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 3 2 Parameter and Data Registers e Bit 7 Bit e Bit 5 e Bit 4 Bit 3 Bit 2 Bit 1 0 REWINDBIT If this bit is set the sample buffer pointer is moved to the start of the sample buffer CNT 0 Thebit is automatically reset once the operation has been performed See Operation page 13 and REC CNT Register 1 16 page 43 RECORDBIT If this bit is set data sampling to the sample buffer is started The bit is reset automatically when the sample buffer is full See SAMPLE Register 12 page 43 REC Register 116 page 43 Opera tion page 13 T
22. 141 4 4 odes 4 4 1 Init Mode In this mode of operation the same constant voltage is applied to the motor coils i e the motor coils are short circuited This has the effect that when the motor is rotated me chanically the short circuit current will brake the motor In Init mode the configuration is as follows e Function block None e Speed Regulator Passive e Current Regulator Passive The same constant voltage is applied to all motor phases i e the motor is short circuited See IA OFFSET Register 140 page 48 The following registers and flags are updated P IST See P IST Register 10 page 22 IST See V IST Register 12 page 23 e POSbit See ERR STAT Register 35 page 31 INPOSWIN Register 33 page 30 and INPOSCNT Register 34 page 30 e FLWERR 0 See ERR STAT Register 35 page 31 FLWERR Register 20 page 27 and Follow error page 87 FNCERR 0 See ERR STAT Register 35 page 31 FNCERR page 28 and Function Error page 87 IB and IC OFFSET are adjusted See OFFSET Register 140 page 48 If aswitch to Init Mode is made from a mode in which the MAC motor must be assumed to be moving Velocity Mode Position Mode etc the MAC motor will automatically first switch to Stop Mode before switching to Init Mode See STOP MODE MODE 11 page 75 A switch from Init mode to another mode can only be made if no error bits are
23. 49 In general terms the undervoltage monitoring and detection function can be described as follows JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 87 4 5 Monitoring Functions IF U_SUPPLY lt U MIN SUP THEN Undervoltage timer UV_TIMER is preset to sec Bit UV DETECT Error bit UV ERR SET UV ERR IF UV VSOLLO 0 THEN V SOLL 0 ELSE IF U SUPPLY gt 1 25 U MIN SUP THEN IF UV TIMER 0 THEN UV DETECT 0 See ERR STAT Register 35 page 31 See UV HANDLE Register 160 page 50 In Init mode the following is carried out IF SUPPLY lt 1 25 U MIN SUP THEN Undervoltage timer UV TIMER is preset to sec Bit UV DETECT ELSE IF UV TIMER 0 THEN UV DETECT 0 88 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 Interface Description JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 89 5 1 Protocol Using the MacTalk protocol users can read from and write to all registers See Param eter and Data Registers page 17 The MacTalk protocol is defined by message lt readsync gt lt address gt lt startreg gt lt endsync gt lt readblocksync gt lt address gt lt startreg gt lt endsync gt lt writesync gt address lt startreg gt lt datalength gt lt datablock gt lt endsyn
24. 72 e Analogue Gear mode See Analogue Gear Mode AG MODE MODE 18 page 79 Gear Follow mode GF MODE See Gear Follow Mode GF MODE MODE 24 page 83 It is recommended that the gearing ratio fraction is reduced Output 15500 3l Input 10000 20 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 25 3 2 Parameter and Data Registers 3 2 16 3 2 17 I2T Register 16 I2TLIM Register 17 Data format Word These registers are used for monitoring thermal overload of the motor as a result of cur rent heat dissipation in the coils In principle I2T carries out a partial integration of the current heat loss la Ib Ic where la and Ic are the measured phase currents When the value of I2T exceeds I2TLIM the following occurs e 1 2 ERR bit is set See ERR STAT Register 35 page 31 e MODE INIT MODE See STOP MODE MODE II page 75 and Init Mode page 67 Register 2 is updated in all modes of operation UIT Register 18 UITLIM Register 19 Data format Word These registers are used for monitoring thermal overload of the motor s internal power dump as a consequence of regenerative energy from the motor during deceleration In principle a partial integration of the regenerative power is carried out Preg la Ua Ib Ub Ic Uc where la Ib and Ic are the measured phase currents and Ua Ub and Uc
25. Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 115
26. Gear Mode AG MODE MODE 18 page 79 Coil mode MODE V SOLL specifies the maximum velocity during positioning See Coil Mode COIL MODE MODE 19 page 79 Analogue 2 Position mode 2 MODE V SOLL specifies the maximum veloc ity during positioning See Analogue 2 Position mode 2 MODE MODE 20 page 82 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 19 312 Parameter and Data Registers Analogue Position mode APOS MODE V SOLL specifies the maximum velocity during positioning See Analogue Position mode APOS MODE MODE 21 page 82 Gear Follow mode GF MODE V SOLL specifies the maximum velocity following the input pulse signal See Gear Follow Mode MODE MODE 24 page 83 See Gear Position Function block page 62 Unit 0 4768 rpm 3 2 6 A SOLL Register 6 Data format Word Recommended range 1000 This register specifies an acceleration measured 1 16 encoder counts sample The sampling frequency is 520 8 Hz The number of encoder counts per revolution 4096 i e SOLL is specified as 160 the acceleration will be 662 2 2 39731 rpm sec A_SOLL specifies the maximum acceleration deceleration in the following modes e Velocity mode V MODE See Velocity Mode page 68 Position mode P MODE See Position Mode page 69 e Gear Position
27. MODE MODE 19 page 79 e Analogue 2 position mode 2 MODE See Analogue 2 Position mode A2POS MODE MODE 20 page 82 MODE 20 e Analogue Position mode See Analogue Position mode APOS MODE MODE 21 page 82 MODE 21 e TestKI mode TESTKI MODE MODE 22 e TestTQ mode MODE 23 Gear Follow mode GF MODE MODE 24 In the various modes of operation the function blocks the speed regulator and current regulator are configured in different manners The following sub sections describe the configuration used to drive the motor in each of the different modes of operation and specify which registers and flags are updated The following registers and bits are updated in all modes of operation e 127 Calculated coil temperature of the motor See I2T Register 16 page 26 and page 86 Calculated load of internal power dump See UIT Register 18 page 26 and UIT page 86 e 2T ERR Bit that indicates coil temperature overload See ERR STAT Register 35 page 31 and T page 86 UIT ERR Bit that indicates overload of internal power dump See ERR STAT Reg ister 35 page 31 and UIT page 86 e P LIM ERR Bit that indicates that a software position limit has been exceeded See ERR STAT Register 35 page 31 and Software end of travel limits page 86 66 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and
28. OFOH OOEH Or Address for P IST 041 CH Message OFOH OFOH 000H OFFH OICH 004H OFBH 100 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 141 5 2 FastM FlexM AC Example Switch to FastMAC protocol Message 07FH 07FH 07FH Use of FastMAC Flex MAC protocol The MAC motor always uses the FastMAC protocol to transmit i e Status byte is trans mitted repetitively except when the MAC responds to a ReadMessage under FlexMAC protocol The MAC motor always uses FastMAC Flex MAC protocol as commanded to receive For each FlexMAC message the MAC has accepted the toggle bit will be switched in the status byte In the status byte under Fast MAC protocol bits 6 5 DEC FLAG ACC FLAG These bits therefore cannot have a status Conversely bits 6 5 in header bytes under MAC are always set to Thus an external unit can differentiate between a status byte under FastMAC protocol and a header byte under Flex MAC protocol when transmission is made from the MAC motor to the external unit The status byte contains flags that indicate under which protocol the MAC will receive a message from an external unit From an external unit the protocol is switched from FastMAC to FlexMAC as follows Transmit command Use Flex MAC protocol Wait for bit 3 in status byte 1 FlexMAC is used Transmit u
29. Register 12 page 23 FLWERR Accumulated value of velocity error See ERR STAT Register 35 page 31 FLWERR Register 20 page 27 and Follow error page 87 FNCERR Accumulated value of correction of function block See ERR STAT Reg ister 35 page 31 FNCERR page 28 and Function Error page 87 POSbit in ERRSTAT is set if P SOLL P FNC I6 FLWERR lt INPOSWIN See ERR STAT Register 35 page 31 INPOSWIN Register 33 page 30 INPOSCNT Register 34 page 30 P SOLL Register 3 page 18 P Register 8 page 22 FL WERR Register 20 page 27 and Position func tion block page 55 FNC ERR See ERR STAT Register 35 page 31 FLW ERR See ERR STAT Register 35 page 31 e FLAG See ERR STAT Register 35 page 31 and Position function block page 55 FLAG See ERR STAT Register 35 page 31 and Position function block page 55 In this mode of operation a change to INIT MODE always occurs via STOP MODE in order to protect the motor TestKI mode TESTKI MODE MODE 22 This mode is used for calculating the amplification in measurement circuitry for the mo tor phase currents See KIA Register 148 page 49 TestTQ mode TESTTQ MODE MODE 23 This mode is used for measurement of frictional torque For test purposes only Gear Follow M ode GF MODE MODE 24 In this mode of operation the configuration is as follows
30. V Positioning can be carried out in three ways Absolute positioning This method of positioning is used when RELPSOLL 0 and RELPFNC 0 See CNTRL BITS Register 36 page 32 On changing from low to high analog input voltage P SOLL P2 is set On changing from high to low analogue input voltage P SOLL PI is set Relative positioning using P SOLL This method of positioning is used when RELP SOLL and RELPFNC 0 See CNTRL BITS Register 36 page 32 On changing from low to high analogue input voltage P SOLL P SOLL P2 is set On changing from high to low analogue input voltage P SOLL P SOLL PI is set Relative positioning using P FNC This method of positioning is used when RELP SOLL 0 and RELPFNC 1 On changing from low to high analogue input voltage P FNC P FNC P2 is set On changing from high to low analogue input voltage P P FNC is set When SOLL or P FNC are calculated the rest of the block s function is executed in principally the same way as the Position function block See Position function block page 55 60 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 4 1 Function blocks Profile Generation 4 1 11 Analogue Position function block This function block controls the positioning of the motor depending on the voltage ap plied to the analogue input This function block can only be used for absolute positioning
31. as follows Function block AVG function block See AVG function block page 59 Speed Regulator Active See Speed Regulator page 64 Current Regulator Active See Current Regulator page 65 Correction of function block Passive This implies that in this mode of operation the primary parameters are interpreted as fol lows GEARFI GEARF2 Gear factor GEARFI GEARF2 See Register 14 page 25 e V SOLL Maximum velocity for compensating for follow error See V_SOLL Register 5 page 19 e ANINP 10 is converted to 300 RPM See ANINP Register 122 page 44 A SOLL Maximum allowable acceleration deceleration for compensating for fol low error See A SOLL Register 6 page 20 e T SOLL Maximum allowable torque See T SOLL Register 7 page 21 The following primary registers and flags are updated in AVG Mode e P IST See IST Register 10 page 22 e V IST See V_IST Register 12 page 23 72 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 4 4 odes 4 4 8 4 4 9 FLWERR Accumulated value of velocity error See FLWERR Register 20 page 27 FNCERR 0 FLW_ERR Accumulated value of velocity error See ERR_STAT Register 35 page 31 e POS 0 See ERR STAT Register 35 page 31 In this mode of operation a change to INIT MODE always occurs via STOP MODE in order to protect the motor
32. conditional statement is evaluated true Transmission is disabled by specifying FAST_DIS bit JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 107 6 1 MACOO R1 R3 R4 6 1 8 OUTPUT byte Bits 3 0 indicate the status of hardware outputs if the conditional statement is evalu ated as true Bits 5 4 Available Bit 6 CLR_CNT bit enables the counter be reset CLR_CNT l Bit 7 CNT_DWN bit enables the counter value to be decremented CNT_DWN 1 TIMER_COUNTER word This word specifies the value to which the timer or counter is to be preset If the value is specified as 0 the timer counter is not updated To reset the counter see OUTPUT byte To reset the timer the value can be specified as 1 ms FlexM AC Format This format is used if the FORMAT bit In FlexMAC format the command statement contains byte 2 words in all 5 bytes REG NMB byte LS DATE word MS DATA word REG NMB byte Bits 6 0 indicate the number of the MACmotor register to be written to using the Flex MAC protocol See MAC User Manual section x x x Bit 7 LONGWORD bit indicates the register format word longword LS DATA word This word specifies the least significant word to be transmitted to the MACmotor regis ter MS DATA word This word specifies the most significant word to be transmitted to the MACmotor reg ister
33. e Analog velocity mode See AV function block page 58 and Analog Velocity Mode AV_MODE MODE 5 page 72 e Gear mode G MODE See Gear Follow Function block page 57 and Gear Position Mode GP_MODE MODE 3 page 69 e Analog velocity gear mode AVG MODE See AVG function block page 59 and Analogue Velocity Gear Mode MODE MODE 6 page 72 e Analogue Gear mode MODE See Analogue Gear Mode AG MODE MODE 18 page 79 See Analogue Gear Function block page 60 e Coil Mode MODE See Coil Mode COIL MODE MODE 19 page 79 Unit 1 16 encoder counts P FNC specifies the position that a given function generator has reached The value of P is only used in P MODE The fact that the value is updated in other modes of operation enables the start position to be found when switched to P MODE Example flying saw The motor saw is stationary at its start position in P MODE while a target job pass es 2 Atagiven signal the operating mode is switched to G MODE The motor saw syn chronises velocity with the object During this operation P FNC is updated 3 The object is sawn 4 The mode of operation is switched to P MODE Since the value of P FNC has changed the position function block will generate a velocity that moves the motor saw back to its starting point P FNC can be used to perform relative positioning See Position function block p
34. e RECORDBIT Start sampling See CNTRL BITS Register 36 page 32 Sampling is carried out for sampling periods Switch to BREAK MODE See BREAK MODE MODE 10 page 75 Using the measurements in the sample buffer the transfer function for motor dynamics can be identified 74 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 4 4 odes 4 4 11 4 4 12 4 4 13 BREAK MODE 10 A switch to this mode of operation occurs on completion of TESTA MODE See TESTA MODE MODE 9 page 74 In this mode of operation the sign of T SOLL is changed for braking the motor after ac celeration test After braking a mode switch is made to INIT MODE STOP MODE MODE 11 In this mode of operation the configuration is as follows e Function block Stop function block See Stop function block page 59 e Speed Regulator Active See Speed Regulator page 64 e Current Regulator Active See Current Regulator page 65 e Correction of function block Passive Parameters e SOLL Maximum allowable acceleration deceleration See A SOLL Register 6 page 20 and ACC EMERG Register 32 page 30 The following primary registers and flags are updated in STOP MODE IST Measured position e V IST Measured velocity This mode of operation is used as a transitional mode when a switch of mode is made from an operating m
35. in all modes of operation During conversion of analogue voltages 10V is converted to 1023 3 2 123 ANINP OFFSET Register 123 Data format Integer This register is used for compensating an offset voltage at the analogue input See Register 122 page 44 44 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 352 Parameter and Data Registers 322 124 3 2 125 3 2 126 ELDEGN OFFSET Register 124 ELDEGP OFFSET Register 125 Data format Word Range 0 2047 For correct operation of the motor it is necessary to know the electrical rotor angle measure this a magnet that successively activates three hall elements during rotation is mounted on the rotor axle The zero point for the electrical rotor angle is defined by the point at which the status for the hall signals changes between two distinct states Electrical rotor angles other than zero are calculated by measurement of the number of encoder counts that the rotor has moved from the zero point The motor contains two pole pairs There are 4096 encoder counts per revolution This gives 2048 encoder counts per electrical period In practice deviations exist from motor to motor in terms of when the hall signal status changes in relation to the rotor s physical electrical zero point To compensate for these deviations the registers ELDEGN_OFFSET and ELDEGP_OFFSET are used The v
36. is set the format Pulse direction is selected If the bit is reset quadrature signal is selected This bit is only used in conjunction with reset power up of the motor A change of the status of this bit therefore only has ef fect after write to flash reset See Operation page 13 USERINTFO These bits are used set the function of the user interface 00 Signal input Pulse direction quadrature signal 01 Output from internal encoder Quadrature signal Communication FASTMAC FLEXMAC protocol These bits are only used in conjunction with reset power up of the mo tor A change of the status of these bits therefore only has effect after write to flash reset See Operation page 13 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 33 3 2 Parameter and Data Registers 3 2 37 STARTM ODE Register 37 Data format Word This register is used to indicate the mode in which the motor will start after power on and HOME MODE See HOME MODE Register 42 page 35 HOME MODE MODE 12 page 75 HOME2 MODE MODE page 76 and HOME3 MODE MODE 14 page 77 If the HOME MODE register is specified as O the motor is started directly in the mode specified by STARTMODE 3 2 38 P HOME Register 38 3 2 39 Data format Longlnt Range 67E6 This register specifies the value of the home position found in one
37. is set the supply voltage has been measured to be lower than U MIN SUP See MIN SUP Register 152 page 49 Bit 12 UV ERR If this bit is set an undervoltage error has been detected See UV HANDLE Register 160 page 50 See Undervoltage detection page 87 Bit IX ERR In order to regulate the motor s three phase currents the phase currents are measured and converted to digital values that are used as the basis for calculating phase voltages The measurement range for phase currents is limited by a minimum and maximum value If a current value exceeds the measurement range the value will be represented by the corresponding minimum or maximum value which in terms of current regulation constitutes a critical condition Therefore this bit is set if a phase current is measured as the minimum or maximum value Bit 10 RELPOSPFNC If this bit is set positioning using the positioning registers will be regarded as a relative positioning which is carried out as follows P FNC P FNC 16 Px See Position function block page 55 P Register 8 page 22 P REG P Register 43 page 36 and Format page 93 command mode If this bit is reset see bit 9 RELPOSPSOLL Bit 9 RELPOSPSOLL If this bit is set positioning using the positioning registers will be regarded as a relative positioning P SOLL P SOLL See Position func tion block page 55 P SOLL Register 3 page 18 P REG P Register 43 page
38. of the three home modes See HOME MODE MODE 12 page 75 HOME2 MODE MODE 13 page 76 and HOME3 MODE MODE 14 page 77 3 2 40 V HOME Register 40 Data format Integer Recommended range See SOLL Register 5 page 19 This register specifies the motor velocity used during return to the home position in one of the three home modes See HOME MODE MODE 12 page 75 HOME2 MODE MODE 13 page 76 MODE MODE 14 page 77 The sign of V HOME specifies the direction of the home search 34 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 352 Parameter and Data Registers 3 2 41 3 2 42 T HOME Register 41 Data format Integer Range 800 800 The significance of this register is dependent on the home mode selected e HOME MODE In this mode a home search is made for a mechanical limit mechanical blockage The Home mode is defined as the position that the motor has reached when the torque specified by T HOME is exceeded 50 times The maximum allowable torque during home search is 1 25 times the value of T HOME Since the maximum torque limit is 1023 the maximum value of T HOME is thus approx 800 See HOME MODE MODE 12 page 75 e HOME2 MODE During home search the maximum torque specified by T SOLL is used In these modes an electrical limit is used connected to the analogue input The
39. page 43 e ACC FLAG and DEC FLAG See ERR STAT Register 35 page 31 FNC See below See P Register 8 page 22 The function can in principle be described by T V OLD A SOLL calculated deceleration time DP is calculated as the distance to the required position P SOLL P FNC 16 OUT 2 DP T Limit OUT to V SOLL DV SOLL V OLD Limit DV to SOLL FNC OUT V OLD DV ACC FLAG FNC OUT gt OLD DEC FLAG FNC OUT V OLD V OLD FNC OUT P FNC P FNC FNC OUT Registers T DP DV and V OLD are not accessible to the user V OLD is set to 0 in INIT MODE The function is assigned a register P FNC Function position This register is used to accumulate values in the calculated velocity profile so that P contains the absolute position that the function block has reached See Register 8 page 22 Ifthe motor is overloaded mechanically such that the torque necessary to maintain a given velocity profile exceeds T SOLL the velocity profile is corrected in order that the mo tor can maintain the profile without exceeding T SOLL As a consequence of the correc tion to velocity OUT P is also corrected See FNC OUT Register 117 page 43 If a relative positioning is performed by repetitively adding the relative position to P SOLL itis only a matter of time before the contents of P SOLL will be out of range See P SO
40. page 44 V SOLL Maximum velocity for compensating for follow error SOLL Maximum allowable acceleration deceleration for compensating for follow error The following registers are updated e Velocity profile is written to register FNC OUT See FNC OUT Register 117 page 43 Stop function block This function block generates a velocity profile as follows The motor decelerates in accordance with register A SOLL to 0 RPM See SOLL Register 6 page 20 and ACC EMERG Register 32 page 30 e Ifthe motor rotation is less than 300 RPM the mode is automatically switched to Init mode This function is used automatically if a change of mode to INIT MODE occurs from any mode of operation in which it is assumed that the motor is rotating Such a switch of op erating mode can be due to a motor command or due to a motor error condition See Velocity Mode page 68 Position Mode page 69 Gear Position Mode GP MODE MODE 3 page 69 Analog Velocity Mode AV MODE MODE 5 page 72 and Analogue Velocity Gear Mode MODE MODE 6 page 72 The following registers are updated e Velocity profile is written to register FNC OUT See OUT Register 1 17 page 43 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 59 4 1 Function blocks Profile Generation 4 1 9 4 1 10 Analogue Gear Function block This function block g
41. sign of T HOME determines the polarity of the input signal the input signal is active high if the sign of T HOME is positive otherwise active low See 2 MODE MODE 13 page 76 and HOME3 MODE MODE 14 page 77 HOM E MODE Register 42 Data format Word 2 bytes This register specifies the home mode that is used after power on low byte and the home mode used in conjunction with a home command via the FastMac protocol high byte See Format page 93 command mode If the value is set to 0 home mode is ignored and the motor is started directly in the mode specified by STARTMODE See STARTMODE Register 37 page 34 Legal home modes are e 12 HOME MODE A search for the home position is made until a mechanic limit is reached See HOME MODE MODE 12 page 75 3 HOME2 MODE A search for the home position is made until an electrical home signal is activated See HOME2 MODE MODE page 76 4 HOME3 MODE A search for the home position is made until an electrical home signal is activated deactivated See HOME3 MODE MODE 14 page 77 Once the home position has been found the motor is started in the mode specified by STARTMODE See STARTMODE Register 37 page 34 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 35 3 2 Parameter and Data Registers 3 2 43 3 2 44 3 2 45 P REG P Register 43 Data
42. the following parameters e The analogue input is converted such that 10V corresponds to V SOLL See ANINP Register 122 page 44 e SOLL Maximum acceleration deceleration in order to achieve velocity The following registers are updated e Velocity profile is written to register FNC_OUT See FNC OUT Register 17 page 43 AVZ function block This function block is identical to the AV block with the exception that a deadband of 0 6 Volt is inserted in the conversion of the analogue voltage to motor velocity w The conversion is carried out as follows IF ANINP gt 64 THEN ANINP 64 0 0010416 V SOLL IF 64 lt ANINP lt 64 THEN 0 IF ANINP lt 64 THEN w ANINP 64 0 0010416 V SOLL See Register 122 page 44 AV function block page 58 58 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 4 1 Function blocks Profile Generation 4 1 7 4 1 8 AVG function block This function block generates a velocity profile with the following parameters GEARFI GEARF2 Gear factor GEARFI GEARF2 See Register 14 page 25 e The velocity at an external pulse generator or external encoder is measured and mul tiplied by the gear factor The analogue input is converted such that 10 corresponds 300 rpm and is added See Register 122
43. 050 These data registers contain offset values in conjunction with measurement of the three phase currents In INIT MODE the three phase voltages are set to 0 Volt and it is therefore assumed that the phase currents are zero in this mode See Init Mode page 67 In INIT MODE IA IB and IC OFFSET are adjusted so that IST la measured IA OFFSET 0 e IB IST Ib measured IB OFFSET 0 e IC IST measured IC OFFSET 0 ELDEG IST Register 143 Data format Word Range 0 2047 This data register specifies the rotor s instantaneous electrical angle Unit 360 2048 electr degrees 0 176 electr degrees See Current Regulator page 65 ELDEGN OFFSET Register 124 page 45 ELDEGP OFFSET Register 125 page 45 and CNTRL BITS Register 36 page 32 48 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 352 Parameter and Data Registers 3 2 144 3 2 145 3 2 146 3 2 147 3 2 148 3 2 149 3 2 150 3 2 151 3 2 152 V ELDEG Register 144 Data format Integer This data register indicates the motor s rate of revolution measured at a sampling fre quency 7812 5 Hz Unit Encoder counts sampling period See PHASE COMP Register 126 page 45 and Current Regulator page 65 UA VAL Register 145 UB VAL Register 146 UC VAL Register 147 Data format Integer Intended for debug purposes only KIA Register 14
44. 2 reset FlexM AC Commands in FlexMAC consist of several bytes and a synchronisation mechanism is thus included in the form of 3 header bytes These header bytes contain information about which parameter is to be written to read from and whether the data format used is word longword Using the FlexMAC protocol communication can be made at 3 different levels 1 Write to 15 common registers word or longword Read from 15 common registers word or longword 2 Write to all registers word or longword Read from all registers word or longword 3 Write to arbitrary address word longword 64 Kbyte Read from arbitrary address word or longword 64 Kbyte Syntax Message lt WriteMessage gt ReadMessage gt WriteMessage lt WriteWordMessage gt lt WriteLongMessage gt ReadMessage ReadWordMessage gt lt ReadLongMessage gt WriteWordMessage lt WriteWordBlock gt lt WordDataBlock gt WriteLongMessage WriteLongBlock gt lt LongDataBlock gt ReadWordMessage ReadWordBlock gt ReadLongMessage lt ReadLongBlock gt WriteWordBlock HeaderW2Q gt lt HeaderW2 gt RegNmb gt Header2W gt 0 lt AddressBlock gt JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 97 5 2 FastMAC FlexMAC WriteLongBlock lt HeaderW4Q gt lt HeaderW4 gt lt RegN
45. 22 FastM AC FlexM AC Register index tables Write CNTRL BITS word P SOLL longword V SOLL word A SOLL word T SOLL word KVOUT word INPOSWIN word PO longword PI longword 10 VI word I1 V2 word 12 Al word 13 A2 word 14 LI word 15 L2 word sO Q0 MEOS Un e to ho Read CNTRL_BITS word P_FNC longword P_IST longword V_IST word V EXT word ANINP word NOM word VF_OUT word I2T word 10 UIT word FLWERR word 12 FNCERR word 13 ERRBIT word 14 Command Use FastMAC word 15 Command Use FlexMAC word S9 Q0 MELOS n JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 99 D uz FastM FlexM AC Header byte format Bit 7 Word 0 LongWord Bit 6 5 Always 11 Bit 4 Write 0 Read Bit 3 0 Reglndex Example Write V SOLL 0547H Writelndex 3 format word Message 063H 063H 063H 047H 0 8 005H Or register number for V SOLL 09H Message 060 060H 060H 009 OF6H 047H 0 8 005 Or Address for V SOLL 0412H Message 060H 060H 060H 000H OFFH 012H OEDH 004H OFBH 047H OB8H 005H OFAH Example Read P IST ReadIndex 3 format longword Message Or register number for P_IST 0EH Message OFOH
46. 35 page 3l FLWERR Register 20 page 27 and Follow error page 87 FNCERR Accumulated value of correction of function block See ERR STAT Reg ister 35 page 31 FNCERR page 28 and Function Error page 87 IN_POS bit in ERRSTAT is set if P lt INPOSWIN See ERR STAT Reg ister 35 page 31 INPOSWIN Register 33 page 30 INPOSCNT Register 34 page 30 and Function blocks Profile Generation page 54 FNC ERR See ERR STAT Register 35 page 3l FLW ERR See ERR STAT Register 35 page 3l In this mode of operation a change to INIT MODE always occurs via STOP MODE in order to protect the motor See Analogue Gear Mode AG MODE MODE 18 page 79 84 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 4 5 M onitoring Functions The motor software contains 6 monitoring functions which are always active e Monitoring of the motor s coil temperature calculated See page 86 Monitoring of the internal power dump temperature calculated See UIT page 86 e Monitoring of the software end of travel limits See Software end of travel limits page 86 Monitoring of the Follow error See Follow error page 87 e Monitoring of Function error See Function Error page 87 Monitoring of undervoltage condition in the supply voltage See Undervoltage detection page 87 JVL Industri Elektronik A S Tec
47. 36 and Format page 93 command mode If this bit is reset and bit 0 RELPOSPFNC is reset positioning will be carried out absolutely via P SOLL Px Bit 8 FRAME ERR TX See Synchronisation page 97 Bit 7 PLIM ERR Software position limit exceeded Mode is automatically switched to Init mode when this error occurs See Software end of travel limits page 86 Bit 6 DEC FLAG The motor is under deceleration See Velocity function block page 54 and Position function block page 55 Bit 5 ACC FLAG The motor is under acceleration See Velocity function block page 54 and Position function block page 55 Bit 4 IN POS The motor is in position See Velocity Mode page 68 Position Mode page 69 Gear Position Mode GP MODE MODE 3 page 69 IN POSWIN Register 33 page 30 and INPOSCNT Register 34 page 30 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 3l 3 2 Parameter Data Registers Bit 3 UIT_ERR The internal power dump circuitry is overloaded Use external cir cuitry Mode is automatically switched to Init mode when this error occurs See UIT Register 18 page 26 and UIT page 86 Bit 2 FNC ERR FNCERR exceeds FNCERRMAX Mode is automatically switched to Init mode when this error occurs See FNCERR page 28 and Function Error page 87 Bit FLW ERR FLWERR exceeds FLWERRMAX Mode is automatically switched to Init mode whe
48. 4 page 30 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 37 3 2 Parameter and Data Registers 3 2 49 1 Register 49 3 2 51 P2 Register 51 322 53 P3 Register 53 3 2 55 P4 Register 55 3 2 57 P5 Register 57 3 2 59 P6 Register 59 3 2 61 P7 Register 61 3 2 63 P8 Register 63 65 66 67 68 69 70 71 72 UJ UJ UJ UJ UJ UJ UJ UJ N N N N N N N NN Data format Longlnt Range 67E6 These 8 registers are used in register mode and can contain 8 different values of position A position is transferred to P_SOLL using P_REG_P See P_REG_P Register 43 page 36 and P_SOLL Register 3 page 18 V1 Register 65 V2 Register 66 V3 Register 67 V4 Register 68 V5 Register 69 V6 Register 70 V7 Register 71 V8 Register 72 Data format Integer Range See V_SOLL Register 5 page 19 These 8 registers are used in register mode and can contain 8 different velocity values velocity is transferred to V_SOLL using V_REG_P See V_SOLL Register 5 page 19 REG Register 44 page 36 38 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 352 Parameter and Data Registers WWW UJ UJ UJ UJ UJ WWW w N N N N UJ UJ UJ UJ N N N N N N N N 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 A1 Register 73
49. 8 KIB Register 149 KIC Register 150 Data format Word These registers are used for compensation of the amplification in the measurement cir cuits for the three phase currents Nominal value 256 U SUPPLY Register 151 Data format Word This data register indicates the measured supply voltage Unit 53 7 mV See Current Regulator page 65 U MIN SUP Register 152 Data format Word This data register specifies the minimum supply voltage If the supply voltage is measured to be below the specified minimum the UV DETECT bit is set See ERR STAT Reg ister 35 page 3l See SUPPLY Register 151 page 49 See Undervoltage detec tion page 87 See UV HANDLE Register 160 page 50 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 49 3 2 Parameter and Data Registers 3 2 153 3 2 154 3 2 156 332 157 3 2 158 3 2 160 MOTOR Register 153 Data format Word This register indicates the motor type SERIAL_NMB Register 154 Data format Longlnt This data register indicates the motor s serial number MYADDR Register 156 Data format Word Range 254 This register indicates the motor s address when it is included in a multi drop net with a master and a number of slaves See MacTalk Protocol page 90 HW VERSION Register 157 Data format word This register indicates changes in hardware du
50. A2 Register 74 A3 Register 75 A4 Register 76 Data format Word Recommended range 1000 These 4 registers are used in register mode and can contain 4 different acceleration val ues An acceleration is transferred to A SOLL using A REG P See A SOLL Register 6 page 20 and A REG P Register 45 page 36 T1 Register 77 T2 Register 78 T3 Register 79 4 Register 80 Data format Word Range 0 1023 These 4 registers are used in register mode and can contain 4 different torque values A torque is transferred to T SOLL using T REG P See T SOLL Register 7 page 21 and T REG P Register 46 page 37 L1 Register 81 L2 Register 82 L3 Register 83 L4 Register 84 Data format Fixed8 Recommended range 1 0 10 0 These 4 registers are used in register mode and can contain 4 different values of inertial load factor A load factor is transferred to KVOUT using REG P See KVOUT Reg ister 13 page 24 and L REG P Register 47 page 37 Z1 Register 85 Z2 Register 86 Z3 Register 87 Z4 Register 88 Data format Word Range 0 32767 These 4 registers are used in register mode and can contain 4 different values of position tol erance A tolerance is transferred INPOSWIN using 7 REG P See INPOSWIN Register 33 page 30 INPOSCNT Register 34 page 30 and Z REG P Register 48 page 37 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors
51. ACmotor immediately queues can occur during transmission To maintain synchronisation the Nano PLC must wait for execution of the queue which means that execution of the sequence table is halted Care should therefore be taken when using the FlexMAC format since this involves transmission of many bytes with consequently long execution pauses The sequence table is completed by CURRENT STATE byte 63 Ox3F Thus the legal numbers for sequence steps are 0 62 i e up to 63 sequence steps can be programmed JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 109 110 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 141 7 Index A 36 92 A SOLL 21 54 55 57 60 63 68 70 72 15 77 81 83 39 2 39 A2POS MODE 81 39 4 39 30 FLAG 54 55 68 69 81 82 101 Acceleration Test mode 74 AG MODE 79 AMPLITUDE 46 65 Analog mode 66 Analog Torque mode 70 Analog velocity mode 66 72 Analogue 2 Position function block 60 Analogue 2 Position mode 81 Analogue Gear function block 60 Analogue Gear mode 79 Analogue Position function block 61 Analogue Position mode 81 Analogue Velocity Mode with Deadband 78 ANINP 44 58 61 72 ANINP_OFFSET 44 APOS MODE 81 AT MODE 70 AV function block 58 AV MODE 72 AVG function block 59 AVG MODE 72 AVZ functio
52. C motor can be commanded to 4 modes nit mode The motor is short circuited by PWM outputs In this mode a register set can be combined before start of the motor See Init Mode page 67 e Velocity mode In this mode the register set is interpreted as follows See Ve locity Mode page 68 Activated V register as required velocity Activated A register as max acceleration deceleration Activated T register as max allowable torque Activated L register as load factor Position mode In this mode the register set is interpreted as follows See Posi tion Mode page 69 Activated P register as required absolute relative position Activated V register as max velocity during positioning Activated A register as max acceleration deceleration during positioning 92 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 5 2 FastMAC FlexMAC 5 2 1 3 5 2 1 4 Activated T register as max allowable torque Activated L register as load factor Activated Z register as tolerance for detection that the motor is in position mode In this mode the MAC motor will continue to operate under the previously used mode The last activated register combination is used and can not be arbitrarily changed in Command mode However four commands are avail able to point to register sets VI AI TI LI ZI to P4 V4 A4 T4 14 Z4 In Command mode the 5 register ad
53. DE See Analog Velocity Mode AV MODE MODE 5 page 72 Analog Velocity Gear mode AVG MODE See Analogue Velocity Gear Mode MODE MODE 6 page 72 TESTA MODE See TESTA MODE MODE 9 page 74 HOME2 MODE See HOME2 MODE MODE 13 page 76 MODE See HOME3 MODE MODE 14 page 77 Velocity Analogue Torque mode VAT MODE See Velocity Analogue Torque Mode VAT MODE MODE I7 page 79 Analogue Gear mode MODE See Analogue Gear Mode AG MODE MODE 8 page 79 Coil mode MODE See Coil Mode COIL MODE MODE 19 page 79 Analogue 2 Position mode 5 MODE See Analogue 2 Position mode A2POS MODE MODE 20 page 82 Analogue Position mode APOS MODE See Analogue Position mode APOS MODE MODE 21 page 82 Gear Follow mode GF MODE See Gear Follow Mode GF MODE MODE 24 y page 83 Full torque corresponds to a value of 1023 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 21 3 2 Parameter and Data Registers 3 2 8 3 2 9 3 2 10 P_FNC Register 8 Data format Longint Range 2 147483647 This register is updated by a function generator in the following modes e Velocity mode See Velocity function block page 54 Velocity Mode page 68 Position mode P_MODE See Position function block page 55 and Position Mode page 69
54. E2 MODE MODE 13 page 76 e HOME3 mode See HOME3 MODE 14 page 77 Analogue Velocity mode See Analog Velocity Mode AV MODE MODE 5 page 72 Velocity Analogue Torque mode See Velocity Analogue Torque Mode VAT MODE MODE 17 page 79 Analogue Gear mode See Analogue Gear Mode AG MODE MODE 18 page 79 Coil mode See Coil Mode COIL MODE MODE 19 page 79 Analogue 2 Position mode See Analogue 2 Position mode 5 MODE MODE 20 page 82 Analogue Position mode See Analogue Position mode APOS MODE MODE 21 page 82 Gear Follow mode See Gear Follow Mode GF MODE MODE 24 page 83 See Speed Regulator page 64 24 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 32 Parameter and Data Registers 3 2 14 GEARF1 Register 14 3 2 15 GEARF2 Register 15 Data format GEARF I Integer Data format GEARF2 Word These registers are used for electronic gearing of the signal at the pulse input Conversion ratio Output GEARF Input GEARF2 The direction of rotation of the motor can be reversed by changing the sign of GEARF 1 GEARF and GEARF2 are used in the following modes of operation e Gear Position mode GP MODE See Gear Position Mode GP MODE MODE 3 page 69 e Analog Velocity Gear mode AVG MODE See Analogue Velocity Gear Mode AVG MODE MODE 6 page
55. ESTU MODE MODE 8 page 73 and TESTA MODE MODE 9 page 74 HALL INT For correction of the instantaneous electrical angle ELDEG IST an interrupt request is given when hall elements change between two specific states During normal operating conditions this correction is only necessary once immediately after power on The first correction occurs automatically after which the hall interrupt is disa bled If HALL INT is set I the hall interrupt remains enabled This is used in conjunction with setting ELDEGN OFFSET and ELDEGP OFFSET See ELDEGN OFFSET Register 124 page 45 and ELDEGP OFFSET Register 125 page 45 HICLK The Pulse Inputs are connected to a digital filter in order to eliminate noise If HICLK is set the maximum frequency that may pass through the filter is MHz If HICLK is reset the maximum frequency is 31 KHz This is valid providing that the duty cycle of the input signal is 5096 This bit is only used in conjunction with reset power up of the motor A change of the bit status first takes effect after write to flash reset See Operation page 13 INPSIGN This bit changes the sign of the input signal in terms of hardware This bit is only used in conjunction with reset power up of the motor A change of the status of this bit therefore only has effect after write to flash reset See Operation page 13 PULSEDIR This bit selects the signal format of the input signal If the bit
56. G STARTMODE See MODE REG Register 2 page 17 and STARTMODE Register 37 page 34 HOME3 MODE MODE 14 In this mode of operation the configuration is as follows Function block Velocity function block See Velocity function block page 54 e Speed Regulator Active See Speed Regulator page 64 e Current Regulator Active See Current Regulator page 65 e Correction of function block Passive Parameters e V HOME Velocity used in conjunction with zero point search See V HOME Register 40 page 34 e T SOLL Maximum torque used during search See T SOLL Register 7 page 21 e P HOME Defined positional value for zero position See P HOME Register 38 page 34 e SOLL Maximum acceleration during search See SOLL Register 6 page 20 T HOME The sign of T HOME indicates the active level of the home sensor See T HOME Register 41 page 35 The following registers and flags are updated in HOME3 MODE P IST See P IST Register 10 page 22 V_IST See V IST Register 12 page 23 FLWERR Accumulated value of velocity error See FLWERR Register 20 page 27 FNCERR 0 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 77 4 4 odes 4 4 16 FLW ERR See ERR STAT Register 35 page 31 e POS 0 See STAT Register 35 page 31 This mode of operation performs the following function
57. LL Register 3 page 18 Assume for example that P SOLL 0 and P 0 A relative positioning of 100000 encoder counts is carried out by adding 100000 to P SOLL The function generator will perform this positioning by generating a velocity profile Once the positioning is com plete P FNC 1600000 since the units for P FNC are 1 16 encoder count This rela tive positioning operation can thus be carried out a maximum number of 670 times before P SOLL will be out of range JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 55 4 1 Function blocks Profile Generation Alternatively the relative positioning can be performed by subtracting 1600000 from P FNC Here too the function generator will perform a relative positioning Once the positioning is complete P FNC 0 This relative positioning can be repeated indefinite ly The disadvantage of this method of relative positioning is that no information is main tained about the absolute position that results from repeated relative positioning See P FNC Register 8 page 22 and the RELPOSPSOLL and RELPOSPFNC bits under ERR STAT Register 35 page 31 See T SOLL Register 7 page 21 FNC OUT Register 1 17 page 43 and Speed Regulator page 64 56 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 4 1 Function blocks Profile Generation 4 1 3 Gea
58. MAC 1 See CNTRL BITS Register 36 page 32 and FlexMAC page 97 Character received with framing error See Synchronisation page 97 Available Follow Function I2T UIT error Read ERR STAT using FlexMAC See ERR STAT Register 35 page 3l 96 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 5 2 FastMAC FlexMAC 5 2 1 7 5 2 2 Synchronisation Using the Fast Flex MAC protocol characters are transmitted immediately in succession With the FastMAC protocol these characters will typically be the same If synchronisa tion is lost incorrect bit is interpreted as the start bit by the external unit the external unit will register this as a framing error In such cases the external unit can send the command Transmit slowly This has the ef fect that the MAC motor will insert a pause between each transmitted character so that the external unit can re synchronise See Format page 93 command mode If the MAC motor receives a character with a framing error the MAC motor will set the bit FRAME ERR TX See ERR STAT Register 35 page 31 In addition the MAC mo tor will transmit status bytes with bit 2 set character received with framing error See Status page 96 As a consequence of this an external device should send characters with a pause between them until synchronisation is re established and the MAC motor sends status bytes with bit
59. MAC FlexMAC 5 2 1 5 Example The MAC motor has just been switched on and is in INIT mode Select register set P6 V4 A4 T2 l 2 Set P_IST 0 3 Run to P6 4 Runto P7 5 Run to P5 at velocity V3 Command Comments OEOH 062H 081H 003H 093H 05DH 052 0DCH Command_mode NOP synchronise toggle bit Set P_IST 0 Init_mode Activate T2 Init_mode Activate A4 Init_mode Activate V4 Position_mode Activate 6 5 0 Wait IN_POS Position_mode Activate 7 5 0 Wait IN_POS Position_mode Activate V3 Position mode Activate P5 IN POS 0 Wait IN_POS 5 2 1 6 Status The MAC motor will repetitively transmit a status byte with the following format Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit Bit 0 Toggle bit which has the same value as the toggle bit in the last accepted com mand See CNTRL BITS Register 36 page 32 Deceleration flag See ERR STAT Register 35 page 31 Velocity function block page 54 and Position function block page 55 Acceleration flag See STAT Register 35 page 31 Velocity function block page 54 and Position function block page 55 In Position flag This flag is updated in Position mode See INPOSWIN Regis ter 33 page 30 INPOSCNT Register 34 page 30 and ERR STAT Register 35 page 31 Active protocol receive FastMAC 0 Flex
60. MAC50 MAC95 MAC140 MAC141 Including Expansion M odules Integrated Servo Motors Technical M anual J VL Industri Elektronik A S LB0048 06GB Revised 1 5 2005 Copyright 1998 2005 JVL Industri Elektronik A S All rights reserved This user manual must not be reproduced in any form without prior written permission of JVL Industri Elektronik A S JVL Industri Elektronik A S reserves the right to make changes to informa tion contained in this manual without prior notice Similarly JVL Industri Elektronik A S assumes no liability for printing errors or other omissions or discrepancies in this user manual MotoWare is a registered trademark JVL Industri Elektronik A S Blokken 42 DK 3460 Birker d Denmark Tlf 45 45 82 44 40 45 45 82 55 50 e mail jvl jvl dk Internet http www jvl dk lt 1 1 1 u aaa 5 1 1 6 1 2 Sampled Systems pes Ae tre php dese S ree ha xix 7 2 MacRelO S eRe Cesra eosti oar Sr 9 2 1 10 2 2 Description of MacReglO Windows essen enne enne trennen rennen nennen II 2 3 eric PE TT PS 13 3 Parameter Data Description 15 3 1 Description of Data Formats
61. MPLE 43 74 SAMPLE2 43 74 SAMPLE3 43 SAMPLE4 43 Sampled systems 7 Sampling frequency 7 Sampling interval 7 Sampling time 7 SERIAL NMB 50 Software end of travel limits 85 Software reset 12 Speed regulator 64 STARTMODE 34 Status 96 Stop function block 59 STOP MODE mode 66 75 Supply voltage undervoltage detection 86 Synchronisation 97 1 T 55 T HOME 35 76 77 T REG 37 92 T SOLL 21 64 68 70 72 74 77 81 83 TI 39 T2 39 T3 39 T4 39 TESTA MODE mode 66 74 TestKl mode 82 TESTKI MODE 82 TestTQ mode 82 TESTTQ MODE 82 TESTU MODE mode 66 73 Toggle bit 93 Torque function block 58 Transmit window 11 U SUPPLY 49 UA VAL 49 74 UB VAL 49 UC VAL 49 74 UIT 26 66 85 UIT ERR 66 85 UITLIM 26 85 UITMAX 85 UMEAS 47 74 Undervoltage detection 86 V V ELDEG 49 V 44 64 V HOME 34 76 77 V IST 23 64 67 70 72 73 75 77 81 83 MODE 68 V OLD 54 55 V 36 92 V SOLL 19 54 55 59 60 63 68 70 72 76 81 83 VI 38 V2 38 V3 38 V4 38 V5 38 V6 38 v7 38 V8 38 VAT MODE 79 VB filter 64 VB OUT 43 64 Velocity Analogue Torque mode 79 Velocity function block 54 Velocity mode 66 68 VF filter 64 VF OUT 44 58 64 65 W Word 16 Write to Flash 12 Z Z REG 37 92 114 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 Index 71 22 23 Z4 JVL Industri
62. NC to the velocity profile so that compensation is made for the follow error How ever the maximum allowable velocity V SOLL will not be exceeded The function can in principle be described as follows FNC OUT V EXT GEARFI GEARF2 FNC FNC FNC OUT e V NEW G FNC Limit V NEW to V SOLL DV V NEW V OLD Limit DV to A SOLL OUT V OLD DV FLAG FNC OUT gt V OLD DEC FLAG FNC OUT V OLD V OLD FNC OUT FNC FNC OUT See FNC OUT Register 117 page 43 GEARF Register 14 page 25 GEARF2 Register 5 page 25 V SOLL Register 5 page 19 A SOLL Register 6 page 20 and CNTRL BITS Register 36 page 32 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 57 4 1 Function blocks Profile Generation 4 1 4 4 1 5 4 1 6 Torque function block This function block generates a torque as follows e The analogue input is converted such that 10V corresponds to T SOLL The following registers are updated e Torque is written to register VF OUT See OUT Register 121 page 44 When this function block is used the velocity loops are passive Therefore the torque is written to the velocity loop s output register VF_OUT The sampling frequency for the analogue input is 7812 Hz AV function block This function block generates a velocity profile with
63. ODE 20 page 82 2 Analogue Position mode See Analogue Position mode APOS MODE MODE 21 page 82 22 TestKl mode TESTKI MODE 23 TestTQ mode TESTTQ MODE 24 Gear Follow mode GF MODE See Gear Follow Mode GF MODE MODE 24 page 83 256 If the MAC motor is in Safe Mode and the value 256 is written to MODE REG the motor s default parameter set up is read See Parameter and Data Descrip tion page 15 and SAFE MODE MODE 15 page 78 3 2 3 P SOLL Register 3 3 2 4 Data format Longlnt Ran ge 67E6 This register indicates the absolute position to which the motor will move See ERR STAT Register 35 page 31 bit RELPOSPSOLL The register is used in Position mode P MODE where the specified value indicates the desired position measured in encoder counts See the following sections Position Mode page 69 P IST Register 10 page 22 and Register 8 page 22 Unit Encoder counts 18 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 352 Parameter and Data Registers 322 5 V SOLL Register 5 Data format Integer Recommended range See illustration Speed in RPM Restricted area motor losses will be too high 2000 1000 Supply 0 Voltage VDC 0 12 24 36 48 ze oe Operation below 12 is not recommended TTOS25GB This register specifies a velocity measured in 1 16 encoder counts sampl
64. OLL there is arisk that the motor will be thermally overloaded and an error condition will occur 4 1 12 Gear Position Function block This function block is designed to stop the motor at the correct position without over shooting in relation to incoming pulses On the other hand no account is made of achiev ing the least possible follow error during positioning See Gear Follow Function block page 57 The function block generates a velocity profile with the following parameters e Measured velocity at the external pulse generator or external encoder See V EXT Register 120 page 44 GEARFI GEARF2 Gear factor GEARFI GEARF2 See GEARF Register 14 page 25 62 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 4 1 Function blocks Profile Generation e V SOLL Maximum velocity for compensating for follow error e A SOLL Maximum allowable acceleration deceleration for compensating for follow error The following registers are updated e Velocity profile is written to register FNC_OUT See FNC OUT Register 17 page 43 FNC See below If the motor is overloaded mechanically such that the torque necessary to maintain a giv en velocity profile exceeds T SOLL the velocity profile is corrected to enable the mo tor to maintain the profile without exceeding T SOLL Corrections are accumulated in the register P FNC The reason
65. S Technical Manual Integrated Servo Motors 50 95 140 and 141 352 Parameter and Data Registers 3 2 46 3 2 47 3 2 48 T REG P Register 46 Data format Word Range 0 4 This register is used as a pointer to one of 4 torque registers when the motor is control led in register mode If the value of T REG P is specified as 3 the value of T SOLL will overwritten by the value of T3 At the same time T REG P will overwritten with the value 0 to indicate that the action has been performed See T SOLL Register 7 page 21 L REG P Register 47 Data format Word Range 0 4 This register is used as a pointer to one of 4 load registers inertias when the motor is controlled in register mode If the value of L REG P is specified as 3 the value of KVOUT will be overwritten by the value of L3 At the same time L REG P will overwritten with the value 0 to indicate that the action has been performed See KVOUT Register 13 page 24 Z REG P Register 48 Data format Word Range 0 4 This register is used as a pointer to one of 4 position tolerance registers when the motor is controlled in register mode If the value of Z REG P is specified as 3 the value of INPOSWIN will be overwritten by the value of Z3 At the same time 7 REG P will be overwritten with the value 0 to in dicate that the action has been performed See INPOSWIN Register 33 page 30 and INPOSCNT Register 3
66. SAM PLE2 Register 113 SAM PLE3 Register 114 SAM PLE4 Register 115 Data format Word Range 164 These registers are used in conjunction with real time sampling to the sample buffer The number designation of the registers to be sampled to the buffer are specified in SAMPLE SAMPLE4 See CNTRL BITS Register 36 page 32 TESTU_MODE MODE 8 page 73 and TESTA MODE MODE 9 page 74 REC CNT Register 116 Data format Word Range 0 895 This register specifies the number of samples that are written in conjunction with sam pling to the sample buffer or the number of samples that are read by reading the buffer The content of REC_CNT is reset when the REWIND bit is set in CNTRL_BITS See CNTRL_BITS Register 36 page 32 FNC_OUT Register 117 Data format Integer This register contains output velocity from the function generator See Function blocks Profile Generation page 54 and Speed Regulator page 64 FF_OUT Register 118 Data format Integer This register contains output velocity from filter FF See Speed Regulator page 64 and KFF3 Register 89 page 40 VB_OUT Register 119 Data format Integer This register contains output velocity from filter VB See Speed Regulator page 64 GEARB Register 101 page 41 and KVB3 Register 102 page 41 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 43
67. V8 must be set 0 but when adjusting the position profile it is not necessary having the spindle rotating This rotation can be simulated by setting V8 to some positive or negative value When the spool is rotated at a constant rate the position profile shown in figure 4 4 20 A is produced JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 79 4 4 odes position 4 Master position As illustrated the thread positions are specified by the values of P and P4 See Reg ister 49 page 38 If the diameter of the wire being coiled is large compared to the width of the coil few windings per layer it may be appropriate to stop the traverse movement while a wind ing is coiled onto the previous winding during the switch of the direction of coiling 80 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 4 4 odes This halt in the traverse movement is carried out limiting the position profile as shown in figure 4 4 20 B Mac position P4 3 P2 Master position As illustrated the stop positions are given by the values of registers P2 and P3 At the start of a new coil operation the start position and starting direction must be spec ified in order to make the coiling process repeatable The start position is specified in reg ister P5 and t
68. age 55 See ERR STAT Register 35 page 31 bit RELPOSPFNC P IST Register 10 Data format Longlnt Range 2147483647 This register indicates the motor s current position Unit Encoder counts 22 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 3 2 Parameter and Data Registers 3 2 11 3 2 12 The register can be freely overwritten by a user This will not influence control of the motor since the register contents are not used by the control program This gives the user the facility to reset P_IST at a given position and thereafter measure the distance to another position e g in conjunction with a linear guide Software position limits refer to this register See Software end of travel limits page 86 The register is updated in all modes of operation V_IST Register 12 Data format Integer Range 32767 This register indicates the motor velocity measured in encoder counts per sample the sampling frequency is 520 8 Hz The number of encoder counts per revolution 4096 If V_IST 100 this corresponds to a motor velocity of 100 520 8 PEDES 12 715 rev sec 762 9 rpm The register should not be overwritten by the user since this will result in a positioning error The register is updated in all modes of operation Note The resolution of the measured velocity stored in this register is approximately 8 rpm Reading this register wil
69. alue of ELDEGN_OFFSET is written to ELDEG_IST when the status of hall signals changes in a negative direction of rotation The value of ELDEGP_OFFSET is written to ELDEG IST when the status of the hall signals changes a positive direction See PHASE COMP Register 126 page 45 Current Regulator page 65 and CNTRL BITS Register 36 page 32 See ELDEG IST Register 143 page 48 PHASE COMP Register 126 Data format Fixed8 Recommended range 3 0 7 0 The phase currents of the motor are regulated by three regulation loops with a given am plitude and phase characteristic When the motor rotates the three phase currents are sinusoidal with a frequency dependent on the rate of rotation At high rates of revolu tion the electrical phase shift will be significant due to the regulator s phase characteris tics This phase shift is compensated for by adding an electrical angle V ELDEG PHASE COMP to the argument for the sine functions See ELDEGN OFFSET Register 124 page 45 ELDEGP OFFSET Register 125 page 45 V ELDEG Register 44 page 49 and Current Regulator page 65 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 45 3 2 Parameter and Data Registers 3 2 127 AMPLITUDE Register 127 Data format Fixed8 Range 0 0 83 This register specifies the maximum peak current phase for the motor The measurement range for phase current is
70. and FastMAC requires that the motor is controlled in Register Mode The contents of register values cannot be changed under FastMAC protocol See sections P REG P Register 43 page 36 to Z4 Register 88 page 39 The Flex MAC protocol is designed to provide more flexible communication at the ex pense of communication speed Using FlexMAC all parameter values and register values can be changed Depending on the actual requirements for speed or flexibility it is possible to switch be tween the two protocols on the fly FastM AC Registers The MAC motor contains 32 register for controlling the motor in register mode 8 position registers P 8 See Register 49 page 38 and P REG P Register 43 page 36 8 velocity registers V 8 See VI Register 65 page 38 REG P Register 44 page 36 e 4 acceleration registers A 4 See Al Register 73 page 39 and A REG P Register 45 page 36 4torque registers 4 See Register 77 page 39 and T REG P Register 46 page 37 4 load registers L 4 See LI Register 81 page 39 and L REG P Register 47 page 37 e 4 n position registers Z 4 See ZI Register 85 page 39 and 7 REG P Register 48 page 37 Within each of the 6 groups a register can be activated so that a register set can be com bined e g P6 V4 T2 LI ZI M odes Under FastMAC the MA
71. arch See MODE Register 42 page 35 and sections HOME MODE MODE 12 page 75 to HOME3 MODE MODE 14 page 77 I IH P SOLL P IST P7 FLWERR move relative from current position 12H P SOLL P IST P8 FLWERR move relative from current position 13H Transmit slowly See Synchronisation page 97 14 Use absolute positioning using position registers i e Bit RELPOSPSOLL 0 bit RELPOSPFNC 0 See Position function block page 55 ERR STAT Register 35 page 31 and REG P Register 43 page 36 e 5H Use relative positioning using P SOLL register i e Bit RELPOSPSOLL bit RELPOSPFNC 0 See Position function block page 55 STAT Register 35 page 3l and REG P Register 43 page 36 e 16H Use relative positioning using P FNC register i e Bit RELPOSPSOLL 0 bit RELPOSPFNC See Position function block page 55 STAT Register 35 page 3l and REG P Register 43 page 36 94 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 222 FastM AC FlexM AC 17H 18H NOP 19H I AH I BH NOP I DH Transmit MYADDR See MYADDR Register 156 page 50 EH Use FASTMAC protocol i e NOP FH Use FLEXMAC protocol JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 95 5 2 Fast
72. are the applied voltages to the three phases If Preg is calculated to 0 Preg is set 0 When the value of UIT exceeds UITLIM and the supply voltage 52V the following oc curs e UIT_ERR bit is set See ERR STAT Register 35 page 31 e MODE REG INIT MODE See STOP MODE MODE II page 75 and Init Mode page 67 Register UIT is updated in all modes of operation 26 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 352 Parameter and Data Registers 3 2 20 3 2 21 3 2 22 FLWERR Register 20 FLWERRM Register 22 Follow Error Data format Longlnt Range FLWERR 67 6 Range FLWERRMAX 0 67E6 These registers are used in the following modes of operation Velocity mode V MODE See Velocity Mode page 68 Position mode P MODE See Position Mode page 69 Gear Position mode GP MODE See Gear Position Mode GP MODE MODE 3 page 69 e Analog Velocity mode MODE See Analog Velocity Mode AV MODE MODE 5 page 72 e Analog Velocity Gear mode AVG MODE See Analogue Velocity Gear Mode MODE MODE 6 page 72 Velocity Analogue Torque mode VAT MODE See Velocity Analogue Torque Mode VAT MODE MODE I7 page 79 e Analogue Gear mode See Analogue Gear Mode AG MODE MODE 18 page 79 Coil mode See Coil Mode COIL MODE MODE 19 page 79 Analogue 2 Position mode See Analo
73. by setting FNCERRMAX 0 In P MODE especially it is normally unacceptable that FNCERR deviates from 0 since this indicates that the operating parameters have been set in such a way that the motor is physically unable to follow the required velocity profile The specified maximum torque T SOLL and maximum acceleration A SOLL should be corrected by the user See Function Error page 87 MIN P IST Register 28 MAX P IST Register 30 Data format Longlnt Range 2147483647 These registers are used as software limit stops If e P IST gt MAX P IST or P_IST lt MIN P IST the following occurs e ERR bit is set See ERR STAT Register 35 page 31 e MODE REG INIT MODE See STOP MODE MODE II page 75 and Init Mode page 67 The monitoring function can be disabled by setting e MAX IST 0 MIN IST 0 See Software end of travel limits page 86 Reserved JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 29 3 2 Parameter and Data Registers 3 2 32 3 2 33 3 2 34 ACC_EMERG Register 32 Data format Word Recommended range 1000 This register is used the event that the motor develops an error condition See itoring Functions page 85 Stop function block page 59 and STOP MODE MODE 11 page 75 The specified maximum acceleration A SOLL is replaced by the value of ACC EMERG
74. c gt lt readsamplebuffersync gt lt address gt lt endsync gt lt gosafemodesync gt lt address gt lt endsync gt lt goinitmodesync gt lt address gt lt endsync gt lt writeparmflashsync gt lt address gt lt endsync gt lt resetsync gt lt address gt lt endsync gt lt accept gt readsync lt 50h gt 50h lt 50h gt readblocksync lt 5Ih gt lt 51 gt lt 5lh gt writesync 52h 52h lt 52h gt readsamplebuffersync 53h 53h 53h gosafemodesync 54h 54h 54h goinitmodesync 55h 55h lt 55h gt writeparmflashsync 56h 56h 56h resetsync 57h 57h 57h lt gt lt gt address lt unitaddr gt lt unitaddr gt See MYADDR Register 156 page 50 unitaddr lt masteraddr gt lt macaddr gt lt broadcastaddr gt masteraddr 0 macaddr Olh OFEh broadcastaddr OFFh not operator startreg lt regnr gt lt regnr gt regnr Olh OFFh See Parameter and Data Registers page 17 datalength lt dl gt lt dl gt dl number of dataword in datablock datablock lt datablock gt lt dataword gt dataword lt databyte gt lt databyte gt accept lIh IIh l Ih 90 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 5 1 MacTalk Protocol Example Message 50h 50h 50h
75. can be written to Flash memory See Description of MacReglO Windows page This means that the new parameter set up will be in effect each time the MAC motor is switched on The default values can be re established by bringing the MAC motor to Safe Mode and writing the value 256 100H to the MODE register See REG Register 2 page 17 and SAFE MODE MODE 15 page 78 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 15 Sol Description of Data Formats The MAC motor uses 5 different data formats Word Integer Longlnt Fixed4 Fixed8 Word l6 bit unsigned Range 0 65535 Integer 6 bit signed Range 32767 32767 Longlnt 32 bit signed Range 2 147 9 2 147E9 Fixed4 16 bit signed fixed point Range 7 999756 7 999756 Unit 4096 Fixed8 16 bit signed fixed point Range 127 996 127 996 Unit 256 16 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 3 2 Parameter Data Registers 3 2 1 3 2 2 The following subsections describe all of the available parameter and data registers Each register has its own unique register number The following subsections of this man ual are structured such that register number N is described in section 3 2 N Note that registers of the format Longlnt take up two register numbers corresponding to
76. de corresponds to Velocity mode with the exception that torque limiting is con trolled by the analogue input voltage The torque limit T is calculated as follows T abs ANINP T SOLL 1024 See Velocity Mode page 68 ANINP Register 122 page 44 and SOLL Register 7 page 21 Analogue Gear Mode AG MODE MODE 18 This mode corresponds to Gear Mode with the exception that the effective gear ratio can be adjusted using the analogue input voltage See Analogue Gear Function block page 60 See Gear Position Mode GP_MODE MODE 3 page 69 Coil Mode MODE MODE 19 The purpose of this mode is to facilitate spooling of wire onto a coil An encoder which is mechanically connected to the spindle produces a signal to the MAC motor which must traverse for correct feeding of the coil between the spool s layers Essentially this mode corresponds to Gear Mode with the extra function that the sign of the gear factor is changed at thread positions The required increase mm rev is set via the gear factor GEARF2 as in Gear Mode See Gear Position Mode GP MODE MODE 3 page 69 and Gear Position Function block page 62 From the external encodersignal the value of V EXT register is calculated as in Gear Mode but in addition the value of register V8 is added See V EXT Register 120 page 44 and 8 Register 72 page 38 For normal operation the value of
77. dress bits are used instead to specify 32 different commands Toggle bit To act as a separator to differentiate commands FastMAC uses a toggle bit This bit must be switched for each new command See CNTRL_BITS Register 36 page 32 Format Commands are sent as a single byte using the following format Bit 7 Toggle bit which is switched with each new command At the cost of some communi cation speed it is possible to select that a command must be received identically twice before the command is accepted See CNTRL_BITS Register 36 page 32 SAFEMAC BIT Bits 6 5 Mode bits that indicate the mode of the Mac motor 00 Init mode 01 Velocity mode 10 Position mode Command mode Bits 4 0 The significance of these bits depends on the mode of the Mac motor Init mode Velocity mode Position mode In these modes bits 4 0 are interpreted as the register groups and register number to be activated 00XXX P register is activated Bit 2 0 indicates register number 01 XXX V register is activated Bit 2 0 indicates register number 100 A register is activated Bit 0 indicates register number 101XX T register is activated Bit 0 indicates register number 10XX L register is activated Bit 0 indicates register number 4 I XX Z register is activated Bit 0 indicates register number 4 8 8 4 4 Note If a P register i
78. dustri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 5 1 1 Introduction This Technical Manual describes advanced use of the MAC50 MACI41I motors The Manual describes the functions of the MAC motor its data registers and interfaces in greater detail than is necessary for normal operation of the MAC motor Chapter 2 describes the MacReglO software which provides direct access for changing and reading operational parameters and data Chapter 3 describes all registers containing operational parameters and data Chapter 4 describes the function of the MAC motor in detail Chapter 5 describes the MAC motor s interfaces to its surroundings i e 5232 and RS422 communication interfaces and their associated protocols It is recommended that section 1 2 Sampled Systems is read This section explains cer tain terminology used in sampled systems 6 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 1 2 Sampled Systems In contrast to analogue regulation systems in which analogue control signals continuously flow through regulation filters output stages etc the control signals sampled system only appear in filters and other circuitry at discrete times These discrete times are called the sampling times The time interval between two sam pling times is called a sampling interval The number of samples per second is deno
79. e The sampling frequency is 520 8 Hz The number of encoder counts per revolution 4096 i e if V SOLL is specified as 1600 the angular velocity will be 1600 520 8 2 715 rev sec 762 9 rpm V_SOLL is used differently in different operating modes e Velocity mode V MODE V SOLL specifies the required velocity See Velocity Mode page 68 Position mode P MODE V SOLL specifies the maximum velocity during positioning See Position Mode page 69 e Gear Position mode GP MODE V SOLL specifies the maximum velocity during positioning See Gear Position Mode GP MODE MODE 3 page 69 e Analog Velocity mode AV MODE In this mode the motor velocity is controlled by an analogue input signal 10 V SOLL specifies the maximum velocity corresponding to 10 See Analog Velocity Mode AV MODE MODE 5 page 72 e Analog Velocity Gear mode AVG MODE In this mode the motor velocity is controlled by signals at the pulse input with a bias velocity that is controlled by the signal at the analogue input V SOLL specifies the total maximum velocity See Analogue Velocity Gear Mode MODE MODE 6 page 72 Velocity Analogue Torque mode VAT MODE V SOLL specifies the required velocity at full analogue voltage 10 V DC See Velocity Analogue Torque Mode VAT MODE MODE 17 page 79 Analogue Gear mode AG MODE V SOLL specifies the max velocity See Ana logue
80. e Generation page 54 e FNC ERR See STAT Register 35 page 31 FLW ERR See ERR STAT Register 35 page 31 In this mode of operation a change to INIT MODE always occurs via STOP MODE in order to protect the motor See Analogue Gear Mode AG MODE MODE 18 page 79 Analog Torque Mode AT MODE MODE 4 In this mode of operation the configuration is as follows e Function block AT function block See Torque function block page 58 e Speed Regulator Passive e Current Regulator Active See Current Regulator page 65 e Correction of function block Passive This implies that in this mode of operation the primary parameters are interpreted as fol lows e T SOLL Maximum torque 10 is converted to T SOLL See Register 122 page 44 The following primary registers and flags are updated in Analog Torque mode P IST See P IST Register 10 page 22 IST See V IST Register 12 page 23 FLWERR 0 See ERR STAT Register 35 page 31 FNCERR 0 See ERR STAT Register 35 page 31 IN POS 0 See STAT Register 35 page 31 70 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 4 4 odes When change from to another mode of operation occurs in order to pro tect the motor the following occurs Torque is set to 0 Await occurs until the motor is rotating at low s
81. e V SOLL HOME Move away from home sensor See V HOME Register 40 page 34 If home sensor is passive set V SOLL V HOME Move towards home sensor If home sensor is active set V SOLL V HOME 64 1 Move slowly away from sensor without stopping e The zero position is defined when the home sensor is deactivated At the zero position the following occurs P IST HOME See IST Register 10 page 22 P P HOME 16 See P Register 8 page 22 P_SOLL 0 MODE STARTMODE See MODE REG Register 2 page 7 and STARTMODE Register 37 page 34 SAFE_MODE MODE 15 Functionally this mode of operation is identical to INIT_MODE the motor is passive Various expansion modules can be installed in the MAC motor and via the FASTMAC FLEXMAC protocol these modules can control various parameters However the MAC motor cannot be brought out of SAFE_MODE using the FASTMAC FLEXMAC proto col only using the MACtalk protocol In the event that software in an installed expansion module is faulty so that erroneous commands control the motor incorrectly or control is lost the motor can be brought un der control by switching it to SAFE MODE using the MACtalk protocol The motor can not be brought out of this mode of operation from a faulty module Once the faulty software has been corrected the corrected program can then be trans ferred to the expansion modu
82. e the setup of the MAC motor to the motor s FlashMemory After writing the setup to Flash Memory the MAC motor is reset Note that writing to Flash Memory can only occur when the motor is in Safe Mode See SAFE MODE 15 page 78 Clear Samples Button This button is used to erase the contents of the Sample Window It has no effect on the MAC motor Enter Safe Mode The MAC Motor can be equipped with various optional modules Some of these are pro grammable and can control the motion of the MAC motor If a control program is to be changed the MAC Motor must be brought to a safe mode in which commands from the extension modules are not accepted This button is used to set the MAC motor to Safe Mode See SAFE MODE MODE 15 page 78 The MAC motor will only enter Safe Mode when it is in Init Mode On activation of this button the MAC motor will automat ically attempt to switch to Init Mode in order to further switch to Safe Mode See Init Mode page 67 and STOP MODE MODE II page 75 Exit Safe Mode This button is used to exit Safe Mode The MAC motor will always automatically switch to Init Mode 12 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 141 2 3 Operation The Parameter Window is activated by clicking in the window When the Parameter Window is active a selected register will be highlighted To read the selected highlighted reg
83. e to new hardware versions This informa tion is used by software only CHKSUM Register 158 Data format longword The content of this register is used to ensure program and data validity UV HANDLE Register 160 Data format word This register is used for setting up the function for the detection of undervoltage condi tions See SUPPLY Register 151 page 49 See U MIN SUP Register 152 page 49 See Undervoltage detection page 87 The register contains the following bits Bit 0 SET UV ERR If this bit is set the UV ERR bit is set in the event of an undervoltage detection See ERR STAT Register 35 page 3l Bit UV GO PASSIVE If this bit is set a switch to INIT MODE is made in the event of an undervoltage detection See REG Register 2 page 17 See Init Mode page 67 50 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 3 2 Parameter and Data Registers Bit 2 Reserved Bit 3 UV SOLLO If this bit is set the maximum velocity is set V SOLL 0 motor is stopped See V SOLL Register 5 page 19 3 2 161 INV OUTPUT Register 161 Ask JVL for further details 3 2 162 INDEX OFFSET Register 162 Ask JVL for further details 3 2 163 P NEW Register 163 3 2 164 This register contains a positional value that is used during re synchronisation of position See CNTRL BITS Register 36 page 32 Register 36 contai
84. elocity e SOLL Maximum allowable acceleration deceleration to achieve the required ve locity The following registers are updated Velocity profile is written to register FNC OUT See FNC OUT Register 17 page 43 e FLAG DEC FLAG and IN POS flag See ERR STAT Register 35 page 31 e FNC ERR See FNCERR page 28 The function can be described by DV SOLL V OLD Limit DV to SOLL OUT V OLD DV ACC FLAG FNC OUT gt OLD DEC FLAG FNC OUT V OLD V OLD FNC OUT If INPOSCNT 0 then IN POS V IST lt INPOSWIN motor stopped If INPOSCNT gt 0 then IN POS V SOLL V IST I6 lt INPOSWIN velocity error INPOSWIN See INPOSWIN Register 33 page 30 See INPOSCNT Register 34 page 30 Registers DV and V OLD are not accessible to the user V OLD is set to O in INIT MODE 54 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 4 1 Function blocks Profile Generation 4 1 2 Position function block This function block generates a velocity profile with the following parameters e P SOLL Required absolute position e V SOLL Maximum velocity to achieve the required position e SOLL Maximum allowable acceleration deceleration to achieve the required position The following registers are updated e Velocity profile is written to register FNC OUT See OUT Register 1 17
85. enerates a velocity profile with the following parameters GEARFI GEARF2 Gear factor GEARFI GEARF2 See GEARF I Register 14 page 25 e The analogue input is converted to an analogue gear factor such that 10V corre sponds to 1 15 0 87 See Register 122 page 44 e The velocity at an external pulse generator or external encoder is measured and mul tiplied by gear factor analogue gear factor The effective gear factor can thus be adjusted using an analogue voltage In contrast to the AVG function block this meth od of synchronising the MacMotor with an external signal ensures that when the ex ternal signal s velocity is zero the MacMotor will be stationary regardless of the value of the analogue voltage e V SOLL Maximum velocity for compensating for follow error e A SOLL Maximum allowable acceleration deceleration for compensating for follow error The following registers are updated e Velocity profile is written to register FNC OUT See FNC OUT Register 17 page 43 Analogue 2 Position function block This function block controls the positioning of the motor depending on the voltage ap plied to the analogue input The analogue input is used as a logical input in which a pro grammatic hysteresis is built in such that a change from low to high state is registered when the voltage exceeds 5 4 V and a change from high to low state is registered when the voltage is less than 4 4
86. format Word Range 0 8 This register is used as a pointer to one of eight position registers when the motor is con trolled in register mode See Register 49 page 38 If the value of P REG P is specified as 3 the value of P3 will be copied or added to SOLL At the same time REG P will be overwritten with the value 0 to indicate that the action has been performed See P SOLL Register 3 page 18 See RELPOSPSOLL and RELPOSPFNC bits ERR STAT Register 35 page 3l V REG P Register 44 Data format Word Range 0 8 This register is used as a pointer to one of eight velocity registers when the motor is con trolled in register mode See VI Register 65 page 38 If the value of V REG is specified as 3 the value of V SOLL will be overwritten by the value of V3 At the same time V REG P will be overwritten with the value O to indicate that the action has been performed See V SOLL Register 5 page 19 A REG P Register 45 Data format Word Range 0 4 This register is used as a pointer to one of 4 acceleration registers when the motor is con trolled in register mode See Al Register 73 page 39 If the value of A REG P is specified as 3 the value of A SOLL will be overwritten by the value of A3 At the same time A REG P will be overwritten with the value O to indicate that the action has been performed See A SOLL Register 6 page 20 36 JVL Industri Elektronik A
87. gue 2 Position mode 2 MODE MODE 20 page 82 e Analogue Position mode See Analogue Position mode APOS MODE MODE 21 page 82 Gear Follow mode GF MODE See Gear Follow Mode GF MODE MODE 24 page 83 In the above modes FLWERR is calculated In all other modes of operation FL WERR is set to 0 V AV AVZ MODE In these modes of operation FLWERR is calculated by accumulating velocity errors that are in part due to the dynamic characteristics of the ve locity regulator and in part can be due to the fact that the motor is torque overloaded which results in the expected position cannot be maintained FLWERR is thus used here to detect abnormal loading of the motor or blockages P GP AG A2POS APOS GF MODE FLWERR is calculated the same way as described above It should be noted however that in these modes the function generator will correct adjust the velocity profile so that the motor is not significantly overloaded The value of FLWERR will therefore be limited automatically The user can however still use FLWERR FLWERRMAX in applications in which the maximum motor torque is ex pected to be so small that a correction of the velocity profile will not take place and where the user wants to use FLWERR as an indicator of an abnormal torque sequence If the absolute value of FLWERR exceeds FLWERRMAX the following occurs e FLW ERR bit is set See ERR STAT Registe
88. he starting direction specified in register P6 The rules for setting up registers P6 are e PI lt P2 lt P3 lt P4 e PI lt P5 lt P4 P6 I or l A typical set up for registers P P6 is therefore PI 10000 Left thread position P2 12000 Left stop position P3 58000 Right stop position P4 60000 Right thread position P5 12000 Start at left side P6 Start in right direction Positioning at the start position is activated by setting the analogue input voltage AIN high When AIN is set low the MacMotor will resume the normal coil function The MacMotor can be set up to perform an initiating homing at power up When using some sensor homing mode the homing function uses the analogue input to sense the home position and the coiling function uses the signal to sense the start position com mand The two signals can be coupled in parallel if the home position sensor is activated away from normal working area between and P4 Note Having completed the power up homing an initial start position command must be given before starting the first coil process JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 8l 4 4 odes 4 4 21 4 4 22 Analogue 2 Position mode A2POS MODE MODE 20 In Analogue 2 Position Mode the configuration is as follows e Function block Analogue 2 Position function block See Analogue 2 P
89. hnical Manual Integrated Servo Motors 50 95 140 and 141 85 4 5 Monitoring Functions 4 5 1 4 5 2 4 5 3 I T The motor s coil temperature is calculated on the basis of the sum of the squared phase currents current heat loss The value of the current heat loss is accumulated in register I2T If the value I2T exceeds the value of the 2 parameter the I2T ERR bit in ERR STAT is set and a switch of mode is automatically made to INIT MODE See I2T Reg ister 16 page 26 I2TLIM Register 17 page 26 and STAT Register 35 page 31 WARNING Iron losses in the rotor are not included in the calculation These losses will be significant if the motor is driven at a greater rate of revolution than that specified for the supply voltage used UIT The motor includes an internal power dump When the motor brakes e g during de celeration the motor produces regenerative energy back to the supply The supply volt age may therefore increase to a level that can cause damage to circuitry unless a power dump is used to sink the regenerative energy This energy heats the power dump com ponents The temperature of the power dump s components is calculated on the basis of the measured regenerative energy to the power dump and the value is accumulated in the UIT register If the value of UIT exceeds the value of the UITMAX parameter the UIT ERR bitis set and the mode of operation is automatically sw
90. if the format is longword 108 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 6 1 MACOO R1 R3 R4 6 1 9 Execution of the Sequence Table Due to synchronisation execution of the Nano PLC sequence table is as follows Logical hardware inputs are read and written to HW_INP byte 5 0 The INPOS bit and ERROR bit are read by a status byte which is continuously transmitted by the MACmotor and written to HW_INP byte 7 6 All sequence terms in the sequence table are executed that is to say the HW_INP byte is used in evaluation of the conditional statement If the conditional statement of a sequence terms is evaluated as true the commands specified by the command statement are written to temporary command registers The commands are not ex ecuted instantaneously If the conditional statement in several sequence terms is eval uated true the temporary command registers are overwritten If the commands conflict with one another the command set in the last sequence term evaluated as true will take precedence The exception to this is transmission of the MODE COMMAND byte using the FastMAC format and FlexMAC format which is always executed instantaneously The commands in the temporary command registers are executed Logical hard ware outputs are updated The Timer value is adjusted Return to step Re 2 Since the Nano PLC executes transmission of commands to the M
91. ister either the r or R key is used In this way the register contents are updated and displayed in the Parameter Window To write to the selected register either the w or W is used A dialogue box is then displayed and the new parameter value can be specified Immediately after writing to a register the register value will be read back and updated in the parameter window If the register is continuously updated by the MAC motor a value oth er than that entered may be shown in the parameter window The cursor position i e selected parameter be changed using the arrow keys PgUp or PgDn keys or using the mouse To display the sampled register values in the Sample Window either the s or S key is used The values of the sampled registers for the first next sample is displayed Note that using the Write to Flash button causes the MAC motor to be reset JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 13 14 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 141 Parameter Data Description The following sections describe the data formats parameter and data registers On delivery the parameters are set to a default set up These default values are stored in ROM Read Only Memory Parameter values can be changed by the user and if the changes are required to be saved the new parameter set up
92. itched to INIT MODE via STOP MODE See UIT Register 18 page 26 UITLIM Register 19 page 26 and STOP MODE MODE page 75 If this error occurs frequently it is recommended that the user mounts an external pow dump or adjusts the acceleration deceleration See SOLL Register 6 page 20 Software end oftravel limits The IST register which indicates the motor s instantaneous position is updated in all modes of operation See P IST Register 10 page 22 If the motor s allowable position range is limited monitoring of the motor position can be activated This monitoring is active if register MIN P IST lt gt 0 or register MAX P IST lt gt 0 See IST Register 10 page 22 and MIN P IST Register 28 page 29 When active the monitoring function will set ERR I if 86 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 4 5 M onitoring Functions 4 5 4 4 5 5 4 5 6 P IST lt MIN P IST P IST gt MAX P IST See ERR STAT Register 35 page 3l At the same time the motor will change to an error state and switch mode to INIT MODE via STOP MODE See STOP MODE MODE ll page 75 Follow error The FLWERR register is updated in several modes of operation See FLWERR Register 20 page 27 FL WERR is calculated by accumulating the instantaneous velocity error these modes of operation If monito
93. l Integrated Servo Motors 50 95 140 and 141 7 Index Home3 mode 66 77 47 I2T 26 66 85 2 66 85 I2TLIM 26 IZTMAX 85 IST 48 IA OFFSET 48 67 IA SOLL 47 65 IB IST 48 IB OFFSET 48 67 IB SOLL 47 65 IC IST 48 IC_OFFSET 48 67 IC SOLL 47 65 5 67 70 72 73 76 78 81 83 Init mode 66 67 INIT MODE 59 67 INPOSCNT 30 INPOSWIN 30 Integer 16 Interface description IX_SELECT 47 K KFFO KFF KFF2 KFF3 KIBO KIFXI KIFX2 KIFYO KVBO KVBI KVB2 KVB3 KVFX2 KVFX3 KVFX4 KVFYO KVFYI KVFY2 KVFY3 KVOUT 24 64 L L REGP 37 92 39 89 94 96 101 12 39 13 39 14 39 Longlnt 16 MacReglO 9 11 13 Bit window 11 Clear samples button 12 Enter Safe Mode 12 Exit safe mode 12 Installation 10 Operation 13 Parameter window 11 Receive window 11 Sample Window 11 Screen windows 11 Software reset button 12 Transmit window 11 Write to flash button 12 MacTalk Protocol 90 MAN ALPHA 46 73 MAN NOM 46 73 MANI MODE 73 Manual mode 66 73 MAX P IST 29 85 MIN P IST 29 85 MODE REG 17 18 MODE REG 0 66 67 MODE REG 66 68 MODE REG 10 66 75 MODE REG 11 66 75 MODE REG 12 66 75 MODE REG 13 66 76 MODE REG 14 66 77 MODE REG 15 66 78 MODE REG 16 66 78 MODE REG 17 66 79 MODE REG 18 66 79 MODE REG 19 66 79 MODE REG 2 66 69 MODE 20 66 81 MODE REG 21 66 81 MODE
94. l therefore involve measurement noise quantisation noise amounting to 8 rpm In the context of control this error is of no consequence since it is only valid for 1 520 8 sec 1 92 ms Unit 7 629 rpm JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 23 3 2 Parameter and Data Registers 3 2 13 KVOUT Register 13 Data format Fixed8 Recommended range 1 0 10 0 This register is used to determine a relative inertial motor load seen in relation to the motor s nominal inertial load The calculation of KVOUT incorporates the motor s own inertia Example Let a motor s own inertia be 17 3 6 kgm2 nominal load The motor is load ed with inertial load 50 6 kgm2 KVOUT is calculated as 7 3E 6 50E 6 During control the calculated nominal torque will be multiplied by KVOUT thus main taining the motor acceleration KVOUT is used in the following modes of operation e Velocity mode See Velocity Mode page 68 Position mode See Position Mode page 69 e Gear Position mode See Gear Position Mode GP MODE MODE 3 page 69 e Analog Velocity mode See Analog Velocity Mode MODE MODE 5 page 72 e Analog Velocity Gear mode See Analogue Velocity Gear Mode AVG MODE MODE 6 page 72 e Stop mode See STOP MODE MODE II page 75 e HOMEI mode See HOME MODE 12 page 75 e HOME2 mode See HOM
95. le and the motor then brought out of SAFE MODE via the MACtalk protocol Note that the MAC motor cannot be switched to Safe Mode by writing the value 15 to the MODE_REG register Similarly the MAC motor cannot be switched from Safe Mode to another mode by writing to MODE_REG See Description of MacReglO Windows page and MODE REG Register 2 page 17 In Safe Mode the following special values can be written to the mode register e 00h 256 Default parameter set up will be read from firmware and saved in flash memory as userparameters Motor will be reset e 0 257 Default parameter set up will be read from firmware but is not saved in flash e 02h 258 Last saved userparameters will be read from flash See MODE REG Register 2 page 17 78 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 4 4 odes 4 4 17 4 4 18 4 4 19 4 4 20 Analogue Velocity M ode with Deadband AVZ MODE MODE 16 This mode corresponds to Analogue Velocity mode with the exception that a dead band is introduced in reading the analogue voltage e If AIN lt 0 625 Volts then AIN 0 Volts e f AIN gt 0 625 Volts then AIN AIN 0 625 1 0625 Volts e f AIN lt 0 625 Volts then AIN AIN 0 625 1 0625 Volts See Analog Velocity Mode AV MODE MODE 5 page 72 Velocity Analogue Torque Mode VAT MODE MODE 17 This mo
96. llowing primary registers and flags are updated HOME MODE mode P IST See P IST Register 10 page 22 IST See IST Register 12 page 23 FLWERR Accumulated value of velocity error See FL WERR Register 20 page 27 FNCERR 0 FLW ERR See ERR STAT Register 35 page 3l IN POS 0 See STAT Register 35 page 31 This mode of operation performs the following function e V SOLL V HOME See V HOME Register 40 page 34 T SOLL 1 5 T_HOME Allow higher peak torque than detection limit See T HOME Register 41 page 35 e Reset a detection counter Not accessible to user If the applied torque VF_OUT exceeds HOME during operation the detection counter is incremented See VF OUT Register 121 page 44 e Zero position is defined when the detection counter 50 At the zero position the following occurs P IST P HOME See P_IST Register 10 page 22 P FNC P HOME 16 See P FNC Register 8 page 22 P_SOLL 0 T SOLL original value MODE REG STARTMODE See MODE REG Register 2 page 7 and STARTMODE Register 37 page 34 4 4 14 HOME2 MODE MODE 13 In this mode of operation the configuration is as follows Function block Velocity function block See Velocity function block page 54 e Speed Regulator Active See Speed Regulator page 64 e Current Regulator Active See Current Regulator page 65 e Correction of functi
97. mb gt lt Header4W gt 0 lt AddressBlock gt ReadWordBlock lt HeaderR2Q gt lt HeaderR2 gt lt RegNmb gt lt HeaderR2 gt 0 lt AddressBlock gt ReadLongBlock lt HeaderR4Q gt lt HeaderR4 gt lt RegNmb gt lt HeaderR4 gt 0 lt AddressBlock gt HeaderW2Q lt W2Q gt lt 20 gt lt W2Q gt HeaderW2 lt W2 gt lt W2 gt lt W2 gt HeaderW4Q lt W4Q gt lt W4Q gt lt W4Q gt HeaderW4 lt W4 gt lt W4 gt lt W4 gt HeaderR2Q lt R2Q gt lt R2Q gt lt R2Q gt HeaderR2 lt R2 gt lt R2 gt lt R2 gt HeaderR4Q lt R4Q gt lt R4Q gt lt R4Q gt HeaderR4 lt gt lt R4 gt lt R4 gt W2 060H W2Q W2 lt Reglndex gt WA 0 W4Q W4 lt Reglndex gt R2 070H R2Q R2 lt Reglndex gt R4 R4Q 4 lt Reglndex gt Reglndex lt Index gt lt Index gt Index OFH RegNmb lt Nmb gt lt Nmb gt Nmb IH OFFH AddressBlock lt WordDataBlock gt WordDataBlock lt ByteBlock gt lt ByteBlock gt ByteBlock lt Byte gt lt Byte gt Byte OFFH LongDataBlock ByteBlock ByteBlock ByteBlock ByteBlock Note Data Format used Big Endian Note NOT function 98 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 2
98. mode GP MODE See Gear Position Mode GP MODE MODE 3 page 69 e Analog Velocity mode AV MODE See Analog Velocity Mode AV MODE MODE 5 page 72 e Analog Velocity Gear mode AVG MODE See Analogue Velocity Gear Mode AVG_MODE MODE 6 page 72 e Homing mode 3 See HOME MODE MODE 12 page 75 HOME2 MODE MODE page 76 and HOME3 MODE MODE 14 page 77 e Velocity Analogue Torque mode MODE See Velocity Analogue Torque Mode VAT MODE MODE I7 page 79 e Analogue Gear mode AG MODE See Analogue Gear Mode AG MODE MODE 18 page 79 e Coil mode COIL MODE See Coil Mode COIL MODE MODE 19 page 79 e Analogue 2 Position mode 2 MODE e Analogue Position mode 5 MODE See Analogue Position mode APOS MODE MODE 21 page 82 Gear Follow mode GF MODE See Gear Follow Mode GF MODE MODE 24 page 83 Unit 248 3 rpm sec 20 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 352 Parameter and Data Registers 3 2 7 T_SOLL Register 7 Format Word Range 0 1023 This register specifies the maximum allowable torque in the following modes Velocity mode V_MODE See Velocity Mode page 68 Position mode P_MODE See Position Mode page 69 Gear Position mode GP MODE See Gear Position Mode GP MODE MODE 3 page 69 Analog Velocity mode AV MO
99. n block 58 AVZ MODE 78 B Bit window 11 BREAK MODE mode 66 74 75 c Clear Samples 12 CNTRL BITS 32 Coil mode 79 COIL MODE 79 Current regulator 65 D Data formats 16 DEC FLAG 54 55 68 69 81 82 101 55 DV 54 55 ELDEG IST 48 ELDEGN_OFFSET 45 65 ELDEGP_OFFSET 45 65 ERR STAT 31 54 55 F FastMAC 92 FastMAC FlexMAC protocol 92 94 96 101 FF OUT 43 64 FF filter 64 Fixed4 16 Fixed8 16 FLW ERR 68 70 73 76 78 81 83 86 FLWERR 27 67 70 72 73 76 77 81 83 86 FLWERRMAX 27 86 ERR 54 69 70 81 83 86 OUT 43 54 55 57 60 63 64 FNCERR 28 67 70 72 73 76 77 81 83 86 FNCERRMAX 28 86 Follow error 86 Function blocks 54 56 Analogue 2 Position function block 60 Analogue Gear function block 60 Analogue Position function block 61 AV function block 58 AVG function block 59 function block 58 Gear function block 57 Gear Position function block 62 Position function block 55 Stop function block 59 Torque function block 58 Velocity function block 54 Function error 86 G Gear factor 57 59 60 62 70 72 83 Gear Follow mode 82 Gear function block 57 Gear mode 66 69 Gear mode Analog velocity mode 66 72 Gear Position function block 62 GEARB 41 GEARFI 25 57 59 60 62 70 72 83 GEARF2 25 57 59 60 62 70 72 83 GF MODE 82 GFERR 49 GP MODE 69 H HOME MODE 35 Homel mode 66 75 Home2 mode 66 76 JVL Industri Elektronik A S Technical Manua
100. n this error occurs See FLWERR Register 20 page 27 and Fol low error page 87 Bit 0 I2T ERR The motor is thermally overloaded calculated coil temperature Mode is automatically switched to Init mode when this error occurs See I2T Reg ister 16 page 26 and T page 86 If an error bit is set bit 0 3 and a mode switch is made to Init mode this error bit must be reset before a switch from Init mode can be made See Init Mode page 67 3 2 36 CNTRL BITS Register 36 Data format word This register contains a number of control and status bits Bit 15 13 Status for hall signals See ELDEGP OFFSET Register 125 page 45 Bit 12 REL RESYNC Relative re synchronisation of position See bit 10 MAN RESYNC Bit INDEX HOME The motor s encoder does not include an index marker Instead the transition between two Hall conditions is intended as an index marker Since the motor contains two pole pairs two index markers are thus defined per revolution The index markers are used in conjunction with HOMING modes to provide more accurate determination of the home position If INDEX HOME in a hom ing mode each read value of the home position will be rounded to the nearest index marker Bit 10 MAN RESYNC When this bit is set a manual re synchronisation of position is carried out The bit is automatically reset once the re syn chronisation has been completed The re synchronisation is relative if bit
101. nal statement can contain a product term a logical expression that only contains AND and NOT operators If a condition consists of a sum of products term several sequence terms must be programmed within the same sequence step in order to include an OR operator in the condition The command statement may include or a few commands If several commands to be executed for a given condition several sequence steps that have the same condi tional statement must be programmed within the same sequence step JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 105 6 1 MACOO R1 R3 R4 6 1 5 Conditional Statement of a Sequence Term The conditional part of a sequence term consists of 3 bytes which are denoted STATE byte INPUT byte CARE byte STATE byte Bits 5 0 of this byte indicate the number of the sequence step to which this sequence term belongs i e the conditional statement is only evaluated as true if the number cor responds to the current sequence step Bit 6 COUNTER BIT indicates if the counter value must be equal to 0 i e the condi tional statement is only evaluated as true if COUNTER BIT 0 and Counter value 0 or COUNTER BIT Bit 7 TIMER_BIT indicates if the timer value must be equal to 0 i e the conditional statement is only evaluated as true if TIMER_BIT 0 and Timer value 0 or TIMER BIT INPUT byte Bits 5
102. nd pa rameter formats See Description of Data Formats page 6 for a description of the pa rameter formats Bit Window upper right This window displays the names of bits bit groups their numerical values and explanato ry texts of the values Transmit Window lower left This window displays the last transmitted message byte by byte in hexadecimal format Receive Window lower right This window displays the last received message byte by byte in hexadecimal format Sample Window middle During operation data can be gathered in real time in a sample buffer The number des ignations of the registers to be sampled are specified in registers SAMPLE SAMPLE4 Four fields are displayed at the top of the window indicating the names of the sampled registers The register values are displayed in four columns sample by sample See SAMPLE Register 1 12 page 43 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 2 2 Description of MacReglO Windows MacBasic Button Always used throughout this manual NanoPLC Button Never used throughout this manual Profi Button Never used throughout this manual Software Reset Button This button is used to reset the MAC motor The MAC motor can only be reset in Init or Safe Mode See Init Mode page 67 SAFE MODE MODE 15 page 78 Write to Flash Button This button is used to sav
103. ns the following bits for re synchronisation of position RESYNC AUTO RESYNC and REL RESYNC Re synchronisation can be described as follows IF RESYNC AND NOT REL RESYNC THEN P SOLL P NEW P IST P NEW P NEW 16 IF RESYNC AND REL_RESYNC THEN P SOLL P SOLL P NEW P IST P IST P NEW P P FNC P NEW 16 IF INIT MODE AND AUTO RESYNC THEN P I6 P IST See P SOLL Register 3 page 18 See P IST Register 10 page 22 See P FNC Register 8 page 22 See Position Mode page 69 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 51 52 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 141 Program Function Description The program software contains e Function blocks for generation of velocity profiles See Function blocks Profile Generation page 54 A velocity regulator See Speed Regulator page 64 Current Regulator for the three phase currents See Current Regulator page 65 Monitoring functions See Monitoring Functions page 85 Function blocks Profile Generation page 54 describes the various function blocks Speed Regulator page 64 explains the velocity position regulator Current Regulator page 65 describes the current regulator The software controls the MAC motor in several different modes of operation
104. ocity gear mode 72 Gear mode Analog velocity mode 66 Homel mode 66 75 Home2 mode 66 76 Home3 mode 66 77 Init mode 66 67 Manual mode 66 73 Position mode 66 69 Programming mode 66 78 Safe mode 78 STOP MODE mode 66 75 TESTA MODE mode 66 74 TestKl mode 82 TestTQ mode 82 TESTU MODE mode 66 73 Velocity Analogue Torque mode 79 Velocity mode 66 68 P PFNC 22 55 57 60 63 P HOME 34 76 77 IST 22 64 67 70 72 73 75 77 81 83 P 66 MODE 69 36 92 P SOLL 55 60 62 69 81 82 38 P2 38 3 38 4 38 5 38 6 38 P8 38 Parameter and Data Description 15 Parameter and Data Registers 17 51 Current loop registers 45 49 Data acquisition registers 43 Diverse registers 50 Error handling registers 26 31 Filter registers 40 42 Main control registers 17 25 Position velocity loop registers 43 44 Power onregisters 32 34 35 Register mode registers 36 39 Parameter window 11 PHASE COMP 45 65 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 113 7 Index PHI SOLL 47 65 Position function block 55 Position mode 66 69 PROG VERSION 17 Program and Function Description 53 Programming mode 66 78 PWMA_VAL 49 PWMB VAL 49 PWMC_VAL 49 R REC_CNT 43 Receive window 11 RECINNERBIT 74 RECORDBIT 74 Register mode 92 RELPFNC 60 RELPSOLL 60 REWINDBIT 74 5 Safe Mode 12 Safe mode 78 Sample Window 11 SA
105. ocity mode MODE See Analog Velocity Mode AV MODE MODE 5 page 72 6 Analog Velocity Gear mode AVG MODE See Analogue Velocity Gear Mode MODE MODE 6 page 72 7 Manual current mode MANI MODE See Manual Mode MANI MODE MODE 7 page 73 8 Voltage test mode TESTU MODE See TESTU MODE MODE 8 page 73 9 Acceleration test mode TESTA MODE See A JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 17 3 2 Parameter Data Registers TESTA MODE MODE 9 page 74 10 Break mode BREAK_MODE See BREAK MODE MODE 10 page 75 Stop mode STOP MODE See STOP MODE MODE II page 75 12 Home mode HOME MODE See HOME MODE MODE 12 page 75 13 2 mode 2 MODE See HOME2 MODE MODE page 76 14 Home 3 mode HOME3 MODE See HOME3 MODE MODE 14 page 77 15 SAFE MODE See SAFE MODE MODE 15 page 78 16 Analogue Velocity mode with deadband AVZ MODE See Analogue Velocity Mode with Deadband AVZ MODE MODE 16 page 79 17 Velocity with Analogue Torque VAT MODE See Velocity Analogue Torque Mode VAT MODE MODE I7 page 79 18 Analogue Gear AG MODE See Analogue Gear Mode AG MODE MODE 18 y page 79 19 Coiling MODE See Coil Mode MODE MODE 19 page 79 20 Analogue 2 position mode A2POS MODE See Analogue 2 Position mode A2POS MODE M
106. ode in which it is assumed that the motor is rotating to INIT MODE in which the motor is short circuited See Init Mode page 67 A switch of operating mode to INIT MODE may occur as a result of a command or as a resulted of a detected error condition If the motor is short circuited at high rates of rotation the short circuit current may damage the motor This mode of operation has therefore been introduced to facilitate controlled braking of the motor See ERR STAT Register 35 page 31 and ACC EMERG Register 32 page 30 This mode automatically switches to INIT MODE when the motor velocity is measured to be less than 300 RPM HOME1 MODE MODE 12 In this mode of operation the configuration is as follows Function block Velocity function block See Velocity function block page 54 Speed Regulator Active See Speed Regulator page 64 Current Regulator Active See Current Regulator page 65 e e e e Correction of function block Passive JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 75 4 4 odes Parameters e V_HOME Velocity used in conjunction with zero point search See HOME Register 40 page 34 e T HOME Torque limit for detecting mechanical limit See T HOME Register 41 page 35 e P HOME Defined positional value for zero point See P HOME Register 38 page 34 SOLL Maximum acceleration during search The fo
107. on the filter is used to com pensate for the dynamic characteristics of the subsequent regulation loop so that the mo tor s follow error is very small The output of the FF filter is written to the register FF OUT See FF OUT Register 118 page 43 and KFF3 Register 89 page 40 Encoder counts are sampled and V IST are calculated as follows z V_IST Encoder counts 2 V_IST is added to P_IST V_IST passes through the VB filter See VB OUT Register 19 page 43 The output of the VB filter is written to OUT The velocity error OUT OUT passes through the VF filter See KVFX4 Register 93 page 40 The output of this filter is multiplied by KVOUT and the result torque is written to register VF OUT See KVOUT Register 13 page 24 and VF OUT Register 121 page 44 If the absolute value of VE OUT gt T SOLL maximum allowable torque VF OUT is limited In those modes of operation where function correction is active MODE and G MODE a calculation is made of the speed the function block should have generated OUT in order that the allowable torque is not exceeded Those registers that are affected by this correction FNCERR FNC OUT etc are corrected See P Register 8 page 22 and FNCERR page 28 The calculated torque OUT is input for the current regulator See Current Regu lator page 65 Correction
108. on block Passive Parameters HOME Velocity used in conjunction with zero point search See V HOME Register 40 page 34 e T SOLL Maximum torque used during search See T SOLL Register 7 page 21 e P HOME Defined positional value for zero point See P HOME Register 38 page 34 76 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 4 4 odes 4 4 15 SOLL Maximum acceleration during search See A_SOLL Register 6 page 20 The sign of T HOME indicates the active level of the home sensor See T HOME Register 41 page 35 The following registers and flags are updated in HOME2 MODE P IST See P IST Register 10 page 22 V_IST See V IST Register 12 page 23 FLWERR Accumulated value of velocity error See FL WERR Register 20 page 27 FNCERR 0 FLW ERR See ERR STAT Register 35 page 3l IN POS 0 See STAT Register 35 page 31 This mode of operation performs the following function e V SOLL V HOME Move away from home sensor See HOME Register 40 page 34 If home sensor is passive set V SOLL V HOME Move towards home sensor Zero position is defined when the home sensor is activated At the zero position the following occurs P IST P HOME See IST Register 10 page 22 P P HOME 16 See P Register 8 page 22 P SOLL 0 MODE RE
109. osition func tion block page 60 e Speed Regulator Active See Speed Regulator page 64 e Current Regulator Active See Current Regulator page 65 e Correction of function block Active See Position function block page 55 This implies that in Analogue 2 Position Mode the parameters are interpreted as follows 2 Required positioning dependent on value of analogue input V SOLL Maximum velocity to achieve required position SOLL Maximum allowable acceleration deceleration to achieve required position T SOLL Maximum allowable torque to achieve required position The following registers and flags are updated in Analogue 2 Position Mode IST See P_IST Register 10 page 22 V IST See IST Register 12 page 23 FLWERR Accumulated value of velocity error See ERR STAT Register 35 page 31 FLWERR Register 20 page 27 and Follow error page 87 FNCERR Accumulated value of correction of function block See ERR STAT Register 35 page 31 FNCERR page 28 and Function Error page 87 POSbitin ERRSTAT is set if P SOLL P FNC I6 FLWERR lt INPOSWIN See STAT Register 35 page 31 INPOSWIN Register 33 page 30 INPOSCNT Register 34 page 30 P SOLL Register 3 page 18 P Register 8 page 22 FLWERR Register 20 page 27 and Position function block page 55 FNC ERR See STAT Regis
110. otor velocity corresponds to the required velocity or when the motor is stationary INPOSWIN specifies the number of encoder counts per sample that the motor ve locity may deviate by from either the required velocity or from the stationary state See SOLL Register 5 page 19 and V IST Register 12 page 23 30 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 3 2 Parameter and Data Registers If INPOSCNT gt 0 INPOSCNT specifies the number of consecutive samples that the motor must correspond to the desired velocity with the tolerance specified in INPOSWIN before the IN_POS bit is set If INPOSCNT 0 INPOSWIN specifies the tolerance for the stationary condition within which the IN_POS bit is set See ERR_STAT Register 35 page 31 Recommended value for INPOSCNT 0 3 5 3 2 35 ERR_STAT Register 35 Data format Word This register contains a number of status and error bits Bit 14 DIS_P_LIM If this bit is set monitoring of the software position s end of travel limit will be disabled This feature can be used for example in conjunction with homing modes in which the homing position often lies outside the normally allowed operating range See MIN_P_IST Register 28 page 29 See HOME MODE MODE 12 page 75 See 2 MODE MODE 13 Y page 76 See MODE MODE 14 page 77 Bit 13 UV DETECT If this bit
111. ow error page 87 FNCERR Accumulated value of correction of function block See ERR STAT Reg ister 35 page 31 FNCERR page 28 and Function Error page 87 e POSbitin ERRSTAT is set if P SOLL P FNC I6 FLWERR lt INPOSWIN See ERR STAT Register 35 page 31 INPOSWIN Register 33 page 30 INPO SCNT Register 34 page 30 P SOLL Register 3 page 18 P FNC Register 8 page 22 FLWERR Register 20 page 27 and Position function block page 55 e FNC ERR See ERR STAT Register 35 page 31 FLW ERR See ERR STAT Register 35 page 3l ACC FLAG See STAT Register 35 page 31 and Position function block page 55 e DEC FLAG See ERR STAT Register 35 page 31 and Position function block page 55 In this mode of operation a change to INIT MODE always occurs via STOP MODE in order to protect the motor Gear Position Mode GP MODE MODE 3 In this mode of operation the configuration is as follows e Function block Gear Position function block See Gear Position Function block page 62 Speed Regulator Active See Speed Regulator page 64 e Current Regulator Active See Current Regulator page 65 Correction of function block Active See Gear Follow Function block page 57 This implies that in this mode of operation the primary parameters are interpreted as fol lows JVL Industri Elektronik A S Technical Manual Integrated Servo Motor
112. peed Mode is switched to INIT MODE It is thus only possible to switch to INIT MODE from AT MODE JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 71 4 4 odes 4 4 6 4 4 7 Analog Velocity Mode AV MODE MODE 5 In this mode of operation the configuration is as follows e Function block AV function block See AV function block page 58 e Speed Regulator Active See Speed Regulator page 64 e Current Regulator Active See Current Regulator page 65 e Correction of function block Passive This implies that in this mode of operation the primary parameters are interpreted as fol lows e V SOLL Required maximum velocity 10V analogue input is converted to V SOLL SOLL Maximum allowable acceleration deceleration to achieve required velocity e T SOLL Maximum allowable torque to achieve required velocity The following primary registers and flags are updated in Analog Torque mode e P IST See P IST Register 10 page 22 e V IST See IST Register 12 page 23 FLWERR Accumulated value of velocity error See FL WERR Register 20 page 27 e FNCERR 0 e POS 0 See STAT Register 35 page 31 In this mode of operation a change to INIT_MODE always occurs via STOP_MODE in order to protect the motor Analogue Velocity Gear Mode AVG MODE MODE 6 In this mode of operation the configuration is
113. r IF filter PWM driver stage a 2 nd order phase A B and Current feedback ELDEG IST V ELDEG PHASE_COMP Current Loops TT0997GB from motor phases IST IB IST and IC IST IB filter 1 5 order JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 65 4 4 odes following modes are implemented Init mode INIT MODE MODE REG 0 e Velocity mode V MODE MODE REG I Position mode P MODE MODE _ _REG 2 Gear Position mode GP MODE MODE REG 3 e Analog torque mode AT MODE MODE REG 4 e Analog Velocity mode MODE MODE REG 5 e Gear mode Analog Velocity AVG _MODE MODE_REG 6 e Manual mode MANI MODE MODE REG 7 TESTU MODE MODE REG 8 e TESTA MODE MODE REG 9 e BREAK MODE REG 10 e STOP MODE MODE REG II Homel mode HOME MODE MODE REG 12 e Home2 mode HOME2 MODE MODE _ REG e Home3 mode HOME3 MODE MODE _ REG 14 Programming mode SAFE MODE MODE REG 15 e Analogue Velocity mode with deadband AVZ MODE See Analogue Velocity Mode with Deadband AVZ_MODE MODE 16 page 79 e Velocity with Analogue Torque MODE See Velocity Analogue Torque Mode VAT MODE MODE I7 page 79 e Analogue Gear AG MODE See Analogue Gear Mode AG MODE MODE 18 y page 79 Coiling MODE See Coil Mode COIL
114. r 35 page 31 Init Mode page 67 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 27 3 2 Parameter and Data Registers 3 2 23 3 2 24 3 2 25 3 2 26 This monitoring function can be disabled by setting FLWERRMAX 0 See Follow error page 87 FNCERR FNCERRM AX Function Error Data format Longlnt Range FNCERR 134217727 Range FNCERRMAX 0 134217727 These registers are used in the following modes of operation e Velocity mode V MODE See Velocity Mode page 68 Position mode P MODE See Position Mode page 69 e Gear mode MODE See Gear Position Mode GP MODE MODE 3 page 69 Analogue Velocity mode See Analog Velocity Mode AV MODE MODE 57 page 72 Analogue Velocity Gear mode See Analogue Velocity Gear Mode AVG MODE MODE 6 page 72 Velocity Analogue Torque mode See Velocity Analogue Torque Mode VAT MODE 17 page 79 Analogue Gear mode See Analogue Gear Mode AG MODE MODE 18 page 79 Coil mode See Coil Mode COIL_ MODE MODE 19 page 79 Analogue 2 Position mode See Analogue 2 Position mode A2POS MODE MODE 20 page 82 Analogue Position mode Analogue Position mode APOS MODE 21 page 82 In the above modes FNCERR is calculated In all other modes of operation FNCERR is set to 0 FNCERR is calculated by accumulating
115. r Follow Function block This function block is designed to achieve the least possible follow error in relation to incoming pulses On the other hand no account is taken in the event that if the incoming pulse train suddenly stops the motor will positionally overshoot before stopping at the correct position See Gear Position Function block page 62 The function block generates a velocity profile with the following parameters e Measured velocity at the external pulse generator or external encoder See V_EXT Register 120 page 44 GEARFI GEARF2 Gear factor GEARFI GEARF2 See GEARF I Register 14 page 25 V_SOLL Maximum velocity for compensating for follow error e A SOLL Maximum allowable acceleration deceleration for compensating for follow error The following registers are updated e Velocity profile is written to register FNC OUT See FNC OUT Register 17 page 43 FNC See below If the motor is overloaded mechanically such that the torque necessary to maintain a giv en velocity profile exceeds T SOLL the velocity profile is corrected to enable the mo tor to maintain the profile without exceeding T SOLL Corrections are accumulated in the register P FNC The reason that the motor is overloaded mechanically will typically be that the acceleration at an external pulse generator is too large When the overload condition ceases the function block will transfer the contents of P F
116. ring of this follow error is required it can be activated Follow error monitoring is active if register FLWERRMAX gt 0 See FLWERRMAX Register 22 page 27 When active the monitoring function will set FLW ERR l if e Absolute value FLW ERR gt FLWERRMAX See ERR STAT Register 35 page 3l At the same time the motor will change to an error state and switch mode to INIT MODE via STOP MODE See STOP MODE MODE ll page 75 Function Error The FNCERR register is updated in several modes of operation See FNCERR page 28 FNCERR is calculated by accumulating corrections of a function block If monitoring of these corrections is required the function error monitoring can be acti vated Monitoring of the function error is active if register FNCERRMAX gt 0 See FNCERRMAX page 28 When active the monitoring function will set FNC ERR I if e Absolute value ERR gt FNCERRMAX See ERR STAT Register 35 page 3l At the same time the motor will change to an error state and switch mode to INIT MODE via STOP MODE See STOP MODE II page 75 Undervoltage detection The supply voltage is continuously monitored and the measured value is written to the U SUPPLY register See U SUPPLY Register 151 page 49 Depending on the set up configuration the programme can react if the measured supply voltage falls below the specified minimum voltage See U MIN SUP Register 152 page
117. s 50 95 140 and 141 69 4 4 odes 4 4 5 GEARFI GEARF2 Gear factor GEARFI GEARF2 Reversal of the direction of rotation be made by changing the sign of GEARF I Nominally in MODE the motor is driven with 4096 pulses per revolution If it is required to drive the mo tor at 500 pulses per revolution GEARF2 is specified as 4096 500 or more optimally 1024 125 See Register 14 page 25 e V SOLL Maximum velocity for compensating for follow error See SOLL Reg ister 5 page 19 e A SOLL Maximum allowable acceleration deceleration for compensating for fol low error See A SOLL Register 6 page 20 e T SOLL Maximum allowable torque to achieve required position See T SOLL Register 7 page 21 The following primary registers and flags are updated in Gear Mode e P IST See P IST Register 10 page 22 IST See IST Register 12 page 23 FLWERR Accumulated value of velocity error See ERR STAT Register 35 page 3l FLWERR Register 20 page 27 and Follow error page 87 FNCERR Accumulated value of correction of function block See ERR STAT Reg ister 35 page 31 FNCERR page 28 and Function Error page 87 POSbitin ERRSTAT is set if P lt INPOSWIN See ERR STAT Reg ister 35 page 31 INPOSWIN Register 33 page 30 INPOSCNT Register 34 page 30 and Function blocks Profil
118. s activated the IN POS flag 0 is set automatically See ERR STAT Register 35 page 31 and Position Mode page 69 Command mode In this mode bits 4 0 are interpreted as a command number 0 31 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 93 5 2 FastMAC FlexM AC e 00H NOP No operation OIH Reset error e 02H P_SOLL 0 IN POS 0 See ERR STAT Register 35 page 31 and Posi tion Mode page 69 e 03H P_IST 0 04H P_FNC 0 step turntable POS 0 See Register 8 page 22 Position function block page 55 ERR_STAT Register 35 page 31 and Posi tion Mode page 69 e 05H V_SOLL 0 See SOLL Register 5 page 19 e 06H T SOLL 0 See T SOLL Register 7 page 21 e 07H IN_POS flag 0 See ERR_STAT Register 35 page 31 Velocity function block page 54 Position function block page 55 and Gear Follow Function block page 57 e 08H Perform a relative positioning specified by register P7 from instantaneous posi tion Positioning is done by P_ FNC FLWERR P7 16 See Position function block page 55 be used to perform relative positioning See Position function block page 55 See ERR_STAT Register 35 page 31 bit RELPOSPF NC gister 8 page 22 and FLWERR Register 20 page 27 09H Perform a relative positioning specified b
119. set See ERR_STAT Register 35 page 31 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 67 4 4 odes 4 4 2 Velocity M ode In Velocity Mode the configuration is as follows Function blocks Velocity function block See Velocity function block page 54 Speed Regulator Active Current Regulator Active Correction of function block Passive This implies that in Velocity Mode the parameters are interpreted as follows V SOLL Required velocity A SOLL Maximum allowable acceleration deceleration to achieve required velocity T SOLL Maximum allowable torque to achieve required velocity The following registers and flags are updated in Velocity Mode P IST IST Register 10 page 22 V IST See IST Register 12 page 23 FLWERR Accumulated value of velocity error See ERR STAT Register 35 page 3l FLWERR Register 20 page 27 and Follow error page 87 FNCERR See ERR STAT Register 35 page 31 FNCERR page 28 and Function Error page 87 IN POS bit in ERRSTAT is set as a function of the value of the INPOSCNT register If INPOSCNT gt 0 IN POS is set if FLWERR lt INPOSWIN If INPOSCNT 0IN POS is set if V IST lt INPOSWIN See ERR STAT Register 35 page 31 INPOSWIN Register 33 page 30 INPO SCNT Register 34 page 30 V IST Register 12 page 23 and Function blocks Profile Generation
120. sing FlexMAC During reception an external unit differentiates between the protocol used for transmission via bits 6 5 in the status byte header byte From an external unit the protocol is switched from FlexMAC to FastMAC as follows Transmit command Use FastMAC protocol e Wait for bit 3i status byte 0 e Transmit using FastMAC JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 101 102 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 Expansion odules JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 103 6 1 MACOO R1 R3 and R4 Contents for Chapter 6 MINtPOdNCON uuruuu sun 105 6 1 22 Sequence 105 6 1 3 Sequence 105 6 1 4 Format of Sequence Terms 105 6 1 5 Conditional Statement of aSequence Term 106 6 1 6 Command Statement of the Sequence Term 107 6 1 7 FastMAC Format 107 6 18 42 nese 108 6 1 9 Execution of the Sequence Table 109 104 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 141 6 1 MACOO R1 R3 R4 6 1 1 6 1 2 6 1 3 6 1 4 Introduction The 0
121. ted as the sampling frequency At each sampling point each sample relevant measurement values are read such as Phase current e Motor position e Reference input Values that cannot be read directly are calculated For example Velocity Delta P sampling interval where Delta P is the difference in position from the preceding sample At each sample all outputs are updated including the three phase voltages The MAC motor contains 3 regulation loops with a sampling frequency of 7812 Hz for regulation of the motor s 3 phase currents and regulation loop with a sampling fre quency of 521 Hz for regulation of velocity position The MAC motor s regulation loops contain digital filters corresponding to the analogue fileers of an analogue regulator These digital filters are defined by and calculated in the MAC motor using the Z transform of their transfer function JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 7 8 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 141 M acReglO MacReglO exe is a program for directly writing to and reading from the storage regis ters in the MAC motor In addition the program provides facilities for real time acquisi tion of data in a data buffer for writing parameter set ups to flash memory and for resetting the MAC motor JVL Industri Elektronik A S Technical Manual
122. ter 35 page 31 FLW ERR See ERR STAT Register 35 page 31 e FLAG See ERR STAT Register 35 page 31 and Position function block page 55 FLAG See ERR STAT Register 35 page 31 and Position function block page 55 In this mode of operation a change to INIT MODE always occurs via STOP MODE in order to protect the motor Analogue Position mode APOS MODE MODE 21 In Analogue Position Mode the configuration is as follows Function block Analogue Position function block See Analogue Position function block page 61 Speed Regulator Active See Speed Regulator page 64 Current Regulator Active See Current Regulator page 65 Correction of function block Active See Position function block page 55 82 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 4 4 odes 4 4 23 4 4 24 4 4 25 This implies that in Analogue Position Mode the parameters interpreted as follows 2 Required positioning dependent value of analogue input V_SOLL Maximum velocity to achieve required position SOLL Maximum allowable acceleration deceleration to achieve required position 5 Maximum allowable torque to achieve required position The following registers and flags are updated in Analogue Position Mode P IST See P_IST Register 10 page 22 V IST See V_IST
123. that the motor is overloaded mechanically will typically be that the acceleration at an external pulse generator is too large When the overload condition ceases the function block will transfer the contents of P FNC to the velocity profile so that compensation is made for the follow error How ever the maximum allowable velocity V SOLL will not be exceeded The function can in principle be described as follows OUT V EXT GEARF2 FNC FNC FNC OUT T V_OLD A SOLL calculated deceleration time OUT 2 G FNC T Limit FNC_OUT to V_SOLL DV V SOLL V OLD Limit DV to A SOLL FNC OUT V OLD DV ACC FLAG FNC OUT gt V OLD DEC FLAG FNC OUT V OLD V OLD FNC OUT G FNC FNC FNC OUT See FNC OUT Register 117 page 43 GEARF Register 14 page 25 GEARF2 Register 5 page 25 V SOLL Register 5 page 19 A SOLL Register 6 page 20 and CNTRL BITS Register 36 page 32 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 63 4 2 Speed Regulator 4 2 1 Speed regulator The input to the speed regulator is always output from a function block FNC_OUT See FNC OUT Register 17 page 43 See also illustration below on this page The value of FNC OUT passes through the FF filter This filter can be used to fine tune the velocity profile generated by the function block In additi
124. the velocity corrections that the function genera tor has applied to the velocity profile in order to maintain the specified maximum torque It should be noted that the value of FNCERR in P MODE and related modes is not an expression of a positioning error If the motor is forced from its correct position and stays there the function generator will generate a velocity towards the correct position Assume for example that this velocity 10 Since the motor is kept in this position in principle the velocity profile will be corrected by a value of 10 at each sample The ab solute value of FNCERR will thus increase 10 for each sample despite the fact that the positioning error is constant 28 JVL Industri Elektronik A S Technical Manual Integrated Servo Motors 50 95 140 and 141 3 2 Parameter and Data Registers 3 2 27 3 2 28 3 2 29 3 2 30 3 2 31 GP GF MODE FNCERR is calculated by accumulating the velocity corrections that the function generator has applied to the velocity profile in order to maintain the specified maximum torque maximum acceleration and maximum velocity In GP_MODE and related modes FNCERR represents a positioning error If the absolute value of FNCERR exceeds FNCERRMAX the following occurs e FNC ERR bit is set See ERR STAT Register 35 page 31 e MODE REG INIT MODE See STOP MODE MODE II page 75 and Init Mode page 67 This monitoring function can be disabled
125. two words The Parameter and Data Registers can be categorised into the following groups e Main Control Registers 15 Primarily operational parameters e Error handling Registers 16 35 Parameters and data for error handling e Power on Registers 36 42 Parameters for setup and reset e Register mode Registers 43 88 Parameters for operation via registers e Filters Registers 89 111 Coefficients for various filters e Data acquisition Registers 12 116 Parameters for real time data acquisition e Position velocity loop Registers 117 123 Various parameters for position and velocity loops Current loops Registers 124 152 e Diverse Registers 153 163 PROG VERSION Register 1 Data format word Indicates the MAC motor s program version Can be changed by the user but cannot be written to Flash Memory Example Version is read as 78 4Eh version 4 14 MODE REG Register 2 Data format word Range 0 24 256 This register determines the mode in which the MAC motor will be operated Value Operation mode Init mode See Init Mode page 67 and STOP MODE MODE II page 75 Velocity mode V MODE See Velocity Mode page 68 Position mode P MODE See Position Mode page 69 Gear Position mode GP MODE See Gear Position Mode GP MODE MODE 3 page 69 Analog Torque mode MODE See Analog Torque Mode AT_MODE MODE 4 page 70 5 Analog Vel
126. y register P8 from instantaneous posi tion Positioning is done by P FNC FLWERR P8 16 See Position function block page 55 be used to perform relative positioning See Position function block page 55 See STAT Register 35 page 31 bit RELPOSPF NC gister 8 page 22 and FL WERR Register 20 page 27 e Use rapid communication based on byte See CNTRL BITS Register 36 page 32 Use safe communication based 2 identical bytes See CNTRL BITS Register 36 page 32 e OCH Use register set VI Al TI LI Zl See sections P REG P Register 43 page 36 to 2 REG P Register 48 page 37 IN POS 0 See STAT Regis ter 35 page 31 and Position Mode page 69 Use register set P2 V2 A2 T2 L2 Z2 See sections P REG P Register 43 page 36 2 REG P Register 48 page 37 IN POS 0 See STAT Regis ter 35 page 31 and Position Mode page 69 e Use register set P3 V3 L3 Z3 See sections P REG P Register 43 page 36 2 REG P Register 48 page 37 IN POS 0 See STAT Regis ter 35 page 31 and Position Mode page 69 OFH Use register set P4 V4 A4 T4 L4 Z4 See sections P REG P Register 43 page 36 to 2 REG P Register 48 page 37 IN POS 0 See STAT Regis ter 35 page 31 and Position Mode page 69 Home se

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