JVL MAC050 User Manual page 187

4.6 Expansion Module MAC00-FP2/FP4
Command
Bit
Function
Bit 7 (Write toggle) is used for writing data to the selected register (Write register se-
lector). When this bit is toggled, writing is executed. The write command is ac-
cepted when Bit 7 in the command status (output data byte 7) is equal to this bit.
Bit 6 (Read toggle) is used for reading data from the selected register (Read register se-
lector). When this bit is toggled, reading is executed. The read command is accept-
ed when Bit 6 in the command status (output data byte 7) is equal to this bit.
Bit 5 (Write 32 bit) Set this to 1 if writing to a 32 bit register and 0 if writing to a 16 bit
register.
Bit 4 (Read 32 bit) Set this to 1 if reading from a 32 bit register and 0 if reading from a
16 bit register.
Bit 3 (Auto write) When this bit is 1, the data written in write data 0-3, is transferred to
the MAC motor immediately, regardless of the write toggle bit.
Bit 2 (Auto read) When this bit is 1, the data in read data 0-3 is updated all the time, re-
gardless of the read toggle bit.
Bit 1and Bit 0 should be 0.
Input setup
Bit
Function
Bit 6
Bit 5
Bit 4
Bit 3-0
JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800
7 6 5
Write Read Write
Toggle Toggle 32 bit
7 6
- Reset end limit
(Reset end-limit) When this bit is 1, the end limit condition is reset, if no end
limits are activated.
(PL Enable) When this bit is 1, the positive end-limit is enabled.
(NL Enable) When this bit is 1, the negative end-limit is enabled.
(Input mode) these bits select the current input mode. See section Input modes,
page 185 for details.
4 3 2
Read Auto Auto
32 bit write read
5 4
PL Enable NL Enable
1 0
Reserved Reserved
3 2 1 0
Input mode
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