JVL MAC050 User Manual page 178

4.5 Expansion Module MAC00-FD4
4.5.15 Object class 15 (Parameter)
This object class is the parameter class defined by the DeviceNet standard.
The attributes that are mapped into this object are from object class 100 and 101.
Instance 0-239 is mapped to the value attribute in object class 100 from the correspond-
ing instance.
Instance 240-255 is mapped to attributes from object class 101. Refer to the description
of this object class for the mappings.
4.5.16 Object class 36 (Position Controller Supervisor)
This object class is the position controller supervisor object, as defined in the DeviceNet
standard.
The following class attributes are supported: 1,2,3,6,32,33.
The following attributes are supported for instance 1: 1,3,5,6,7.
4.5.17 Object class 37 (Position Controller)
This object class is the position controller object, as defined in the DeviceNet standard.
The following attributes are supported for instance 1:
1,2,3,6,7,8,10,11,12,13,14,17,20,21,25,45,48,49,52,54,55,58.
The range for attribute 25:Torque is 0-1023.
The following additional manufacturer-specific attributes are supported:
Attribute ID Access rule Data type Description
100
101
102
103
104
174 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800
Get/Set USINT
Get/Set DINT
Get/Set DINT
Get/Set DINT
Get/Set BOOL
Search mode. This mode will be used next time the con-
troller is enabled and the selected mode is position. This
value will be cleared after the enable.
The zero search offset in counts
The velocity to use during zero search in encoder counts
per second.
The torque limit to use during zero search. The range is
-1023 to 1023. A negative torque value means that the
zero sensor is active low.
Use Index. If this is enabled, the zero point will be cor-
rected with reference to the motors index mark.