JVL MAC050 User Manual page 151

4.4 Expansion Modules MAC00-FC2/FC4
Name
Veloctity_encoder_factor_
number_of_entries
Velocity_encoder_factor_
Numerator
Velocity_encoder_factor_
Divisor
Acceleration_factor_number_
of_entries
Acceleration_factor_
Numerator
Acceleration_factor_Divisor
Polarity
SampleFreq
Homing_Torque
Module Parameters:
Inputs status
Outputs
Motor status
Last motor status
Output setup
Input active level
Input setup
Setup bits
Data (256 motor registers)
Fastcommand (Send FastMac
command)
JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800
COB
Sub-
ID
Desc. index
(hex)
RO 6094 0
6094 1
RPM 6094
2
RO 6097 0
6097 1
RPM 6097 2
Bit7:
InvPos.
607E 0
Bit6:
InvVel.
2100 0
2011 1
2011 2
2011 3
2011 4
2011 5
2011 6
2011 7
2011 8
2012 x
2013 0
Motor Initial
register Value
2
4096 or 8000
60
2
4096 or 8000
60
520.833 or
770
500 in V2.0,
T_HOME
30 in V2.1
0
0
0
0x3F
0
Scalefactor Update/
to motor write
See formula (2)
in section 4.3.40
CF_Upd,
>Velocity_factor
CF_Upd,
>Velocity_factor
See formula (3)
in section 4.3.40
CF_Upd.>
Acceleration_
factor
CF_Upd Accele-
ration_factor
CF_Upd,
>Position_factor
>Velocity_factor
Not CF_Upd,
>Velocity_factor
>Acceleration_
factor
At start of
1.023
homing
See section 4.3.24
See section 4.3.25
See section 4.3.26
See section 4.3.27
See section 4.3.28
See section 4.3.29
See section 4.3.30
See section 4.3.31
See section 4.3.32
See section 4.3.33
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