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9.3
Reg.
Nr.
Motor registers MAC400 - 3000
150
Firmware /
MacRegIo
Name
<reserved>
151
<reserved>
152
<reserved>
153
<reserved>
154
<reserved>
155
ID_RESERVED
156
S_ORDER
157
OUTLOOPDIV
MacTalk
Name
Range/
Default
Size /
Access
Unit
(not
present)
(not
present)
(not
present)
(not
present)
(not
present)
(not
present)
(not
present)
-
Na /
0
Word /
RW
-
(not
present)
Na /
0
Word /
RW
-
Description
-
<reserved>
An S-profile can be used to modify/smooth the acceleration at the
beginning and end of a change in velocity. This is useful to
prevent overshoot.
The value of zero disables the S-profile so the normal A_SOLL is
used. Values 1..8 can be used to select a progressively smoother
S-profile, with 8 being the smoothest (and slowest).
The value of S_ORDER may not be changed unless the motor is
in Passive mode (MODE_REG=0).
Divider value for the velocity loop. With the standard value of 1,
the velocity loop is recalculated every 1.3 ms. With a value of 2,
the loop is recalculated every 2.6 ms, which can give better
performance for slow movements and/or large inertia.
It is absolutely necessary to use a different set of filters in
Regs121-142 when changing this value.
To change this value from MacTalk, and gain access to the
extended filters, open the Filter Setup window, then hold down
both the Control and Shift keys and double-click on the text ‘More’
to the left of the ‘Stability’ slider (at the green end). After entering
the correct password, Sample Frequency can be selected and
MacTalk will use the appropriate filter set. Note that the units of all
velocity-related register, measured in counts/sample will now be
doubled, and all acceleration-related registers, measured in
2
Counts/sample , will be four times larger.
TT1512GB
196
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors