JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x 3
Contents
1Introduction .................................................................................................................... 5
1.1 Feature overview ................................................................................................................................................ 6
1.2 General description ............................................................................................................................................ 9
2Hardware ...................................................................................................................... 11
2.1 Power Supply .................................................................................................................................................... 12
2.2 User Inputs ....................................................................................................................................................... 21
2.3 Analogue Inputs ................................................................................................................................................ 25
2.4 User Outputs .................................................................................................................................................... 31
2.5 Serial interfaces overview ................................................................................................................................. 33
2.6 RS485 Interface ................................................................................................................................................. 34
2.7 EMC considerations .......................................................................................................................................... 35
2.8 How to connect a MIS motor ........................................................................................................................... 37
2.9 LED indicators basic motor .............................................................................................................................. 53
2.10 LED indicators using CANopen ........................................................................................................................ 54
2.11 LED indicators using Ethernet .......................................................................................................................... 55
3Functional Safety .......................................................................................................... 57
3.1 STO - Safe Torque Off ..................................................................................................................................... 58
3.2 Safety ................................................................................................................................................................ 60
3.3 Installation ......................................................................................................................................................... 63
3.4 Commissioning ................................................................................................................................................. 65
3.5 Specifications and Certifications ....................................................................................................................... 75
4Using MacTalk ............................................................................................................... 77
4.1 Using the MacTalk software ............................................................................................................................. 78
4.2 How to update MacTalk ................................................................................................................................... 86
4.3 How to update the motor firmware ................................................................................................................. 87
4.4 How to update the encoder FW ...................................................................................................................... 88
4.5 How to get SW/HW motor info ....................................................................................................................... 89
5Description of functions ................................................................................................ 91
5.1 Setting up the motor current ............................................................................................................................ 92
5.2 Auto Correction ............................................................................................................................................... 94
5.3 Closed loop operation ...................................................................................................................................... 98
5.4 Absolute position back-up ............................................................................................................................. 108
5.5 Multifunction I/O setup ................................................................................................................................... 112
5.6 Dedicated outputs .......................................................................................................................................... 115
5.7 SSI encoder/sensor interface ........................................................................................................................... 117
5.8 Absolute Multi-turn Encoder .......................................................................................................................... 122
5.9 Position Limits ................................................................................................................................................. 128
5.10 Under voltage Handling .................................................................................................................................. 133
5.11 Electro Mechanical brake ................................................................................................................................ 136
5.12 Turn Table Mode ............................................................................................................................................ 139
6Modes ..........................................................................................................................145
6.1 Passive Mode .................................................................................................................................................. 146
6.2 Velocity Mode ................................................................................................................................................. 147
6.3 Positioning Mode ............................................................................................................................................ 148
6.4 Gear Mode ...................................................................................................................................................... 149
6.5 Zero search modes ......................................................................................................................................... 157
7Error Handling ............................................................................................................ 165
7.1 Setup error limits ............................................................................................................................................ 166
7.2 Error messages ............................................................................................................................................... 167
8Registers ......................................................................................................................177
8.1 Introduction to registers ................................................................................................................................. 178
8.2 Internal registers ............................................................................................................................................. 179
