JVL MAC050 User Manual page 177

4.5 Expansion Module MAC00-FD4
4.5.11 Instance 2, Attribute 3, Motor status
With this object, the status of the motor can be monitored.
Bit
Data
Bit 7:Unused - reserved for future purposes.
Bit 6:Equals 1, if the velocity is decreasing.
Bit 5:Equals 1, if the velocity is increasing.
Bit 4:Equals 1, if the motor is in the commanded position.
Bit 3:Unused - reserved for future purposes.
Bit 2:Equals 1, if a limit switch has been activated.
Bit 1:Equals 1, if there is a communication error between the MAC00-FDx and the mo-
tor. This can occur if the motor was reset due to a voltage drop.
Bit 0:Equals 1, if there is a fatal motor error. Read subindex 4 for extended information.
4.5.12 Instance 3, Attribute 3, Module setup bits
This object is used for auxiliary setup of the module.
Bit
Setup
Endless relative: When this bit is 1, the endless relative position mode is used for incre-
mental positioning. When using this mode, absolute positioning can no longer be used.
Error action: Determines the action in the event of an error. Bit6 set to 0 will set the mo-
tor in passive mode in case of an error, Bit6 set to 1 will stop motor by setting velocity
to zero in the event of an error.
4.5.13 Instance 3, Attribute 4, FastMac command
When writing to this attribute, a FastMac command is executed. Please refer to the
MAC00-FPx section for a description of the FastMac commands.
4.5.14 Instance 3, Attribute 5, Module command
When writing to this attribute, it is possible to execute some special commands on the
MAC00-FDx module.
The following commands are available:
Number
0
1
2
3-255
JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800
7 6
Decele- Accele-
-
ration ration
7 6
Endless Error
relative action
Function
No operation
Reset limit error
Reset communication error
Reserved
5 4 3
In
-
position
5 4 3
Reserved
2 1 0
Limit
Discon- Motor
switch
nected error
error
2 1 0
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