JVL MAC050 User Manual page 144

4.4 Expansion Modules MAC00-FC2/FC4
Sub-
index
(Hex)
1E
20
21
22
23
4.4.33 Object 2013h – Subindex 0 FastMac command.
When writing to this object, a FastMac command is executed. Please refer to the
MAC00-FPx section for a description of the FastMac commands.
4.4.34 Enable and Disable PDOs
In the CANOpen® profile it is only possibly to have four transmit and four receive PDOs
enabled at the same time. In the MAC00-FC2/FC4 all PDOs are disabled when the mod-
ule is booted up, the user has to choose which PDOs the application will use, and enable
these.
To enable or disable a PDO it is necessary to write to the MSB (bit 31) in the PDO COB-
ID entry in the PDO communication parameter Record. The COB-ID register is sub-in-
dex 1h, and the value range of this register is UNSIGNED32.
The PDOs are enabled when bit 31 is 0, and is disabled when bit 31 is 1.
140 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800
Data
Name type
MAX_P_IST Long int
ACC_EMERG Word
INPOSWIN Word
INPOSCNT Word
ERR_STAT Unsigned16
Read/
Default
Write Unit
(HEX)
Encoder
Read
counts
Counts/
Write
sample
Write Encoder
counts
Samples
Read
Description
Software position limit
negative
The maximum allow de-
celeration when a Unre-
2
coverable error has
occurred
If actual position is within
this window, the motor is
in position
The number of samples
the motor has to be within
the pos. interval spec.in
INPOSWIN
Motor status:
Bit 0: Overload
Bit 1: Follow error
Bit 2: Function error
Bit 3: Regenerative error
Bit 4: In position
Bit 5: Accelerating
Bit 6: Decelerating
Bit 7: Position limits error