Voici quelques Réponses à quelques questions
- Comment changer la valeur du registre de position
- Dans quel registre puis je trouver la valeur du couple actuel ?
- Etranges mouvements du moteur lors du référencement de l'axe : "Sensor Zero Search".
- Utilisation de la diode O1 ?
- Utilisation de la diode O2 ?
- Qu'est ce que "Function error" ?
- Which input is used for "Zero search " ?
- How does Torque Homing work ?
- What is the "Home Position” ?
- How do I setup the Filter Parameters and what is the Load Factor ?
- Which values for Load factor can be used with success ?
- What is "In Position Window" and "In Position Counts" ?
- To which of the 8 available position registers do the “In Position Windows” apply?
- There are 4 Accelerations, 4 Torques, 4 Load Factors.
- How are they applied to 8 position registers ?
- How do I update the firmware in my motor and module ?
- How do I run to absolute or relative positions ?
- What does "Resyncronize position after passive mode" mean and do ?
| Comment changer la valeur du registre de position | P_NEW ( Reg.163 )= yyy ( yyy nouvelle position recherchée ) Read Reg. 36. ( CNTRL_BITS ) OR Reg 36 with 1024 ( bit 10 ) Send reg. 36. Resultat obtenu : P_SOLL=yyy ( Reg. 3 ) P_IST=yyy ( Reg. 10 ) P_SIM=16 x yyy ( Reg. 8 ) Example: La valeur actuelle de la position devrait être de 1234. Control register 36 is 3. Reg. 36 = 3 OR 1024 = 1027. Ecrire: P_NEW = 1234 CNTRL_BITS = 1027 En mode position, le résultat sera : P_SOLL=1234 ( Reg. 3 ) P_IST=1234 ( Reg. 10 ) P_SIM=19744 ( Reg. 8 ) En mode passive le résultat sera : P_SOLL=1234 ( Reg. 3 ) P_IST=1234 ( Reg. 10 ) P_SIM=0 ( Reg. 8 ) SI le mode est à nouveau changé en en mode Position, le résultat sera P_SIM=19744. | |
| Dans quel registre puis je trouver la valeur du couple actuel ? | Les couple actuel n'est disponible dans aucun registre. le meilleur registre à utiliser est le VF_OUT ( Reg. 121 ) qui est le couple demandé. TLa boucle de courant est à 20 kHz, voila pourquoi le couple est disponible en quelques micro seconds. | |
| Etranges mouvements du moteur lors du référencement de l'axe : "Sensor Zero Search". | Avant
la version 7.10 du firmware il y avait un problème lorsque
le "Sensor Zero search" est utilisé et lorsque la valeur du
couple est atteitne pendant le mouvement vers le senseur. If
the motor is stopped at a certain position at the torque level
indicated by Torque for a longer time, suddenly the motor is jumping
back and then going towards the sensor again. This only stops if the
sensor is reached. Ce problème a été résolu avec le firmware 7.10. | |
| Utilisation de la diode O1 ? | La sortie O1 est normalement utilisée comme information relative à la situation du moteur en position ou en mode vitesse. Mise à part pour les modules Rx où cette sortie peut être définie par l'utilisateur. In the different position modes, this output is activated if the motor is within the "In Position Window" for the number of samples indicated by "In Position Count". In the different Velocity modes this output indicates that the motor is with the "At Velocity Window" also defined by the same 2 registers See more about register 33 and 34 in the Technical Manual. The modules MAC00-Bx, Rx, FCx, FDx, FPx and FSx all support this functionality. This output needs a voltage supply if a module is used, because it's isolated from the motor. | |
| Utilisation de la diode O2 ? | Veuillez
noter que la diode O2 fonctionne toujours comme une sortie erreur
sauf pour les modules Rx, qui dans ce cas peut être définie par
l'utilisateur. Ceci veut dire que la sortie sera activée lors d'une erreur fatale. Une erreur fatale consiste en :ollows 1. Overvoltage 2. Too much regenerative energy 3. Too high average current to the motor. ( Permissible average torque have been exceeded and the Torque value is set to a value above 100%. ) 4. The software position limits have been exceeded. 5. The maximum following error have been exceeded. 6. The maximum function error have been exceeded. Les textes d'erreur dans le Status du MacTalk montre aussi ces erreurs. Lesz modules MAC00-Bx, Rx, FCx, FDx, FPx et FSx supportent tous cette fonctionnalité. Pour s'allumer, cette sortie a besoin d'être relié à la tension auxiliare de 24V parce qu'elle est isolée du moteur. | |
| Qu'est ce que "Function error" ? | "Function Error" is a calculated value and is made by the Function generator. The Function Generator inputs are values like P_SOLL, V_SOLL and A_SOLL. If the motor is running in position mode with a certain torque and suddenly the needed torque to make the motor move with the specified velocity is increasing and it reaches the Torque value ( Reg. 7 ) which is the limitation of the torque, the speed will drop to a value where the specified torque is enough. Maybe the motor stop. The function generator will, as soon as the Torque value is reached, decrease the expectation of the position, and the difference between the original expected positioning curve and the new, is giving some counts which is described as "Function error". This register can be used for testing if the motor has been hold back for too long. Remember to reset this register before next move. Otherwise it's only reset after "Motor Reset". | |
| Which input is used for "Zero search " ? | AIN is always used as "Zero search input" for sensors. Even if the input specifications says +/-10VDC, this input accepts 24VDC from an external sensor. | |
| How does Torque Homing work ? | In
this special homing mode, the motor moves according to the same
parameters as for Sensor type 1 and 2 zero search, but the Zero Search
Torque value are used different. When this mode is called, the motor starts to move in the direction and with the speed defined by Zero Search Velocity. When
the Torque gets higher than the value defined by Zero Search Torque,
the motor stops and defines this position as Zero Position. If
the motor was left in this position it would would go into an error
situation if the Actual Torque is defined higher than 100%. To avoid this the motor is moved away from the zero position for 0.5 sec. This value can't be changed. The distance it moves during this time is depending of the Zero Search Velocity. When the 0.5 sec is over, the motor is in a certain position. This
value are added with Zero Search Position and placed as Actual Position
( P_IST ) and the motor then changes to Start up Mode. Is Start up mode is a positioning mode, then the motor starts to move until Actaul Position is zero. Now the Torque homing has ended. | |
| What is the "Home Position” ? | It's an offset of the Home sensor. After the zero search is finished the motor is positioned to the “Home Position” and the position is set to zero. A zero search is split in 2 phases. First the motor is moving with the specified "Home velocity" and direction towards the sensor and finds this and set the position to zero. Next step is setting "P_SOLL"=0 and "P_IST" to "Home Position" and change mode to Position mode and the motor is now moving to position zero. | |
| How do I setup the Filter Parameters and what is the Load Factor ? | The parameters KVFX, KVFF, KVB, KIFX, KIFY, KIB do not have much description in the manual and there is very little information about where they are used. It is VERY difficult for users to change these filter parameters and get a good result and the intention was, that it shouldn't be neccesary for our customers to do this. The parameters are calculated specifically for the selected motor without any load mounted at the motor shaft, to obtain the "perfect" result. Then it's only up to the user of the motor to determine the correct load factor. The load factor is the proportion between the Inertia at the shaft of the motor and the motor inertia. | |
| Which values for Load factor can be used with success ? | The default values will normally work with no load from 0.5 up to about 1.5 before the motor is getting unstable. The MAC motor algorithms are exceptional and the standard filters will provide up to a 50:1 ratio between load and motor inertia. They are tested for higher ratios (100:1) with typical motion profiles. MacTalk is limiting the Load factor to 5. If you need higher ratio, then please contact JVL. The standard filters are already tuned pretty hard to allow maximum torque at high speeds. That's why you'll notice some noise from the motor as it adjusts all the time at standstill. This noise is coming from the current loop and can be reduced in non aggressive applications by reducing the KIFX1 parameter. This is the only filter parameter that should be adjusted. Other filters can be supplied for extreme situations but we have found that the standard ones supplied fulfils 99% of the typical applications. | |
| What is "In Position Window" and "In Position Counts" ? | To define when the motor is at the correct position and stays there, 2 parameters are accessible. "In Position Window" defines how many counts the motor is allowed to be away from the requested position. "In Position Counts" define for how many samples the motor should be within the "In Position Window" before the output is activated. Each sample is for MAC050 to 141 approx. 2 ms ( 512 Hz ) and for MAC800 approximatly 1.4 ms ( 720 Hz ). In the positioning modes like Position and Gear mode, the "In Position" flag is activated if the motor is within the "In Position Window" for the number of samples indicated by "In Position Count". Example: If "In Position Window" = 20 and "In Position Count" = 4, the Actual
position has to be within a window of +/-20 counts from the requested
position for 4 x 2ms ( MAC140 ) before "In Position" flag is
activated. If Actual position is outside the window just once, the "In Position" signal disappears at once. In the different Velocity modes there is a "At Velocity" flag that indicates that the motor is within the "At Velocity Window" also defined by the same 2 registers. See more about register 33 ( "In Position Window" ) and 34 ( "In position Count" ) in the Technical Manual. The modules MAC00-Bx, Rx, FCx, FDx, FPx and FSx all support this functionality. Output
O1 is normally used as information for "In Position" or "At Velocity"
except for Rx modules where it can be selected as "User defined". | |
| To which of the 8 available position registers do the “In Position Windows” apply? | These 8 position registers and the 4 "In Positin Windows" are normally used together with FastMac commands. FastMac is way of communication where one byte can activate several informations and make the motor move in a specified way. Example: A FastMAC command 64 + 13, can activate a movement using P1 ( Position ), V1 ( Velocity ), A1 ( Acc/dec ), T1 ( Torque ), L1 ( Load factor ) and Z1 ( In Position Window) So the answer to the question is - Z1 is used together with P1, Z2 with P2, Z3 with P3 and Z4 with P4. More detailed information is available in the Technical Manual for MAC050 to 141 in the chapter about FastMAC and FlexMAC. | |
| There are 4 Accelerations, 4 Torques, 4 Load Factors. How are they applied to 8 position registers ? | These registers are used with FastMac commands. One byte can activate several informations and make the motor move in a specified way. Example: A FastMac command 77 (64 + 13), can activate a movement using P1 ( Position ), V1 ( Velocity ), A1 ( Acc/dec ), T1 ( Torque ), L1 ( Load factor ) and Z1 ( In Position Window) More detailed information is available in the Technical Manual for MAC050 to 141 in the chapter about FastMac and FlexMac or in the User Manual in the chapter about MAC00-FPx. | |
| How do I update the firmware in my motor and module ? | To update the firmware for either the MAC motor or the modules, MacTalk is needed. The newest verions of firmware are delivered with MacTalk. New functions are coming all the time and bugs are fixed, why it is very important to use the newest version. New firmware versions to PC: To get the newest firmware versions you just have to have your computer connected to the internet. Press
"Updates" and "Update firmware ..." and the newest firmware versions
for all the motor types and modues are all ready at the computer in the
same directory as MacTalk. New firmware to motor and module: When
a motor and module has to be updated just connect the computer to the
motor and make the update of the motor and the module. Please be aware that all parameters are set to default values when you update the firmware. If - the update is stopped before finished or - it's not starting to update if the procedure is followed or - other strange behavior occurs you should close down the update window and try again if there is connection to the motor. If there is no connection you have to close down MacTalk and the motor and module by switching of the power. Then start up MacTalk and start Update firmware. When MacTalk says Turn OFF/ON power, the power for the motor has to be turned on and the updating should start. If it still doesn't work the both PC and motor has to be shutdown and started again If it still doesn't update the firmware, then contact JVL. | |
| How do I run to absolute or relative positions ? | MAC050-141: There are 2 ways of running to both absolute and relative positions. 1) Use P_SOLL all the time and add the relative movement P_SOLL and use the command P_SOLL. 2) Change the reg 35. ERR_STAT bit 9 to 1 and Bit 10 to 0. Reg. 35 is maybe 16 = 10 H / 0000-0000-0001-0000 B < that> Reg. 35 new value 528 = 210 H / 0000-0010-0001-0000 B Put the relative length ( 900 ) you want to run into f.ex. P3 and give the Reg. 43 command P_REG_P = 3, which will change P_SOLL to PSOLL + P3. If the position before is 0 then after the first command P_REG_P=3 the motor will move to position 900 and after next command P_REG_P=3 the motor will be at position 1800 etc. The register P_REG_P will become 0 automatically after each run. MAC800: Register 35 bits 9 and 10 are now located in reg. 36 in bit 3 and 4. | |
| What does "Resyncronize position after passive mode" mean and do ? | If this is marked, the automatic resyncronizing is made when the motor goes from passive to position mode. ( Register 36, bit 9 - AUTO_RESYNC ) Example and descripton: Resyncronize: If the motor are stopped in a certain position and the motor is set to passive mode and turned a certain distance in pasiive mode, the motor will turn back to the position before passive mode when it's put into position mode again. ( The motor moves ) No resyncronizing: If the motor are stopped in a certain position and the motor is set to passive mode and turned a certain distance in passive mode, the motor wil stay in this position when the motor is set to position mode again. ( The motor doesn't move ) This resyncronizing can also be made manually by setting bit 10 in register 36 - MAN_RESYNC. This is oftne used together with register P_NEW to set the motor in a certain position. |