| Register Name / Module Address |
Assembled Address for PLC |
Description |
Left Motor Servo Command Word
4:0009 |
M: 4:1824
E: O.Data [24]
P: Byte 48 (Hi)
Byte 49 (Lo) |
Bit 0: Reset Command
1 = Set Current Pulse Count to “0”
Bit 1: Servo Run Command
1 = Run in Motor from current pulse count to set
pulse count in Left Motor Servo Command
Pulses Register |
Right Motor Servo Command Word
4:0014 |
M: 4:1826
E: O.Data [26]
P: Byte 52 (Hi)
Byte 53 (Lo) |
Left Motor Servo Command Pulses
4:0008 |
M: 4:1823
E: O.Data [23]
P: Byte 46 (Hi)
Byte 47 (Lo) |
Signed integer value in motor pulses of the position to move to on the next Servo Run Command
Valid values are from -32767 to +32767 |
Right Motor Servo Command Pulses
4:0013 |
M: 4:1825
E: O.Data [25]
P: Byte 50 (Hi)
Byte 51 (Lo) |
!Servo Motor Control requires ConveyLinx firmware 4.14 or later
!Servo Control functionality requires that the Closed Loop option be enabled for the motor port in question. This can be done either by selecting the check box in EasyRoll or using the PLC to write a value of “2” in the appropriate Motor Speed Control register for the motor in question
*The Servo Motor Control function utilizes the existing motor speed, acceleration, and deceleration registers. The existing starting, stopping, and direction control registers are not used and these functions are incorporated into the Servo Control registers
*Servo Control functionality utilizes motor pulses as generated by the BLDC motor’s Hall Effect Sensors as the metric for movement and positioning. The quantity of pulses per revolution of the BLDC motor is based upon the number of motor poles X 3. The actual number of pulses per revolution of the MDR tube is based upon the gear reduction ratio of the gearbox in the MDR and the diameter of the tube. Learn about Motor Pulse to Distance Calculation
