JVL MAC050 User Manual page 155

4.4 Expansion Modules MAC00-FC2/FC4
Digital Inputs (6) in section 4.3.39.
Bits 31: 24 The Motor Status register (2011-3)
Bits 23: 16 HardWareInputs (2011-1) - the 6 HW-inputs on the module
Bit 2:
Bits 1: 0
Bits 5: 4 from (HardwareInputs ANDed with InputSetup (2011-7)) - (in reality in
DititalInputs= ((UINT32)Inputs<<16)
((UINT32)MotorStatus<<24
(((Inputs & InputSetup)>>4) & 0x3)
(unsigned char)P5_P0<<2
Outputs (7) in section 4.3.39.
Outputs=((DigitalOutputs & OutputMask)>>16) & 0x3
Note that the module outputs come from the manufacturer specific bits 17:16 and that
bit 0, Set Brake, is not implemented.
Home offset (8) in section 4.3.39.
P_Home=-(PositionFactor*HomeOffset)+HomeTable[Method].HomeOffset*In-
dexDistance*UseIndex
4.4.41 Changing operation mode
A change of operation mode is only possible when the operation mode is not enabled.
There are two exceptions and one is when changing from homing mode to profile posi-
tion mode. This is possible when the homing sequence is completed and can be done
even though the operation mode is enabled. The other exception is when changing from
profile position mode into velocity mode.
4.4.42 Profile position mode
This mode can be used for positioning where a movement profile can be set up. The ac-
celeration and maximum velocity can be programmed.
In this mode, both absolute and relative moves are supported. The type of move is se-
lected via bit 6 (abs/rel) in the status word. When a relative move is selected, the type of
relative move is dependent on the setup in object 2011h subindex 8.
It is also possible to select different movement modes. This is done using bit 5 (change
set immediately) in the status word. When this bit is 0 and a move is in progress, the new
set-point is accepted. But the new set-point and profile are not activated before the pre-
vious movement is finished. When this bit is 1, the new set-point is activated instantly and
the motor will move to the new position with the new profile parameters.
Please note:
- The torque limit that is used during the profile can be set via object 6072h.
- The register L1 (object 2012 subindex 81) is used to select the load factor when the
profile is started. If a different load factor is required, this register must be set cor-
rectly.
JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800
Home sensor state
puts 5 and 6)
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