JVL MAC050 User Manual page 143

4.4 Expansion Modules MAC00-FC2/FC4
4.4.32 Object 2012h – Motor parameters
With this object all the registers of the MAC motor can be accessed. All the registers are
accessed as 32 bit. When reading and writing to 16 bit registers, the values are automat-
ically converted in the module. In addition to these features listed in the table below,
many more are accessible. In total, the MAC motor contains more than 150 internal reg-
isters such as nominal velocity, actual position, etc. But please note that several registers
are not for the normal user and damage may occur if the contents of these registers is
changed. The table shows the most commonly used registers.
Sub-
in-
dex
(Hex)
00
01
02
03
05
06
07
0A
0C
0E
0F
10
11
1C
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JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800
Data
Name type
Number of entries UNSIGNED8
PROG_VERSION VISIBLE_STRING
MODE_REG UNSIGNED16
P_SOLL UNSIGNED32
V_SOLL UNSIGNED16
A_SOLL UNSIGNED16
T_SOLL UNSIGNED16
P_IST UNSIGNED32
V_IST UNSIGNED16
GEAR_1=0 Integer
GEAR_2=0 Word
I2T Word
I2tLIM Word
MIN_P_IST Long int
De-
Read/
fault
Write Unit
(HEX)
Read 253
Read 120
Write
Encoder
Write
counts
Counts/
Write
sample
Counts/
Write
2
sample
Write
Encoder
Read
counts
Counts/
Read
sample
Write
Write
Read
Read
Encoder
Read
counts
Description
0: Passive mode
1: Velocity mode
2: Position mode
3: Gear mode
4: Analog Torque mode
5: Analog Velocity mode
6: Analog Velocity/Gear
mode
7-11: Reserved
12: Torque zero Search
13: Sensor type1 Zero
search
14: Sensor type2 Zero
search
The commanded
position
Desired velocity
The maximum allo-
wed acceleration
The maximum
allowed torque
The actual position
The actual velocity
Gear output factor
used in gear mode
Gear input factor
used in gear mode
Motor temperature
calculated
Error trip level used
for I2T register
Software position
limit-positive
139