JVL MAC050 User Manual page 149

4.4 Expansion Modules MAC00-FC2/FC4
4.4.39 Supported objects
Most of the DSP402 parameters start up in the module with-coded values. A few of them
are set depending on the motor type the module is attached to - either MAC50-141 or
MAC400-800. None of the parameters can be saved to flash in the module.
The following table shows the additional object dictionary defined for DSP-402 support.
The numbers in brackets, in the update/write field, bold, refer to the formula for the
factors in the section 4.3.40
Name
Device data
Motor_type
Motor_catalog_number
Motor_manufacturer
http_motor_catalog_address
Supported_drive_modes
Drive_catalog_number
Drive_manufacturer
http_drive_catalog_address
Digital I/O
Digital_inputs
Digital_outputs_numbers_of_entries
Digital_outputs_Physical_outputs
Digital_outputs_Bit_mask
Device control
Abort_connection_option_code
Error_code
Controlword
Statusword
Quick_stop_ortion_code
Modes_of_operation
Mode_of_operation_display
Profile Position parameters
Position_actual_value
Target_position
Software_position_limit_number_
of_entries
Software_position_limit_
Min_position_limit
Software_position_limit_
Max_position_limit
Position_window
Position_window_time
Max_motor_speed
Profile_velocity
Profile_acceleration
Quick_stop_deceleration
Motion_profile_type
Continued on next page
JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800
Sub-
COB
in-
ID
Desc dex
(hex)
6402 0
6403 0
6404 0
6405 0
6502 0
6503 0
6504 0
6505 0
60FD 0
60FE 0
60FE 1
60FE 2
N/U 6007 0
N/U 603F 0
6040 0
6041 0
605A 2
6060 0
6061 0
6064 0
607A 0
607D 0
607D 1
607D 2
6067 0
6068 0
N/U 6080 0
N/U 6081 0
6083 0
6085 0
N/U 6086 0
Motor Scalefactor
register InitValue to motor
10
MACxxx
JVL A/S
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45
MACxxx
JVL A/S
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Motor
status
2
HW output 0
HW output 0
1/Position_factor
P1 Position_factor
0
0
0
Z1 100 Position_factor
INPOSCNT 6 SamleFreq/1000
5000 or 4000
V1 100 Velocity_factor
Acceleration_
A1 15000
factor
Acceleration_
A2 50000
factor
0
Update/
write
When HW inputs or
motor status (change)
See formula (6) in sec-
tion 4.3.40
Imm. See formula (7)
in section 4.3.40
Imm. See formula (7)
in section 4.3.40
Used in state machine
BusyRead
Positionmode when bit
in Controlword is set
0
0
Imm.
Imm
Imm
Imm
Imm
145