JVL MAC050 User Manual page 188

4.6 Expansion Module MAC00-FP2/FP4
4.6.4 Input data (Slave->Master)
The MAC00-FP2/4 contains 8 bytes of input data.
Address Name
0
1
2
3
4
5
6
7
Read Data
For 16 bit registers, the read value will be placed in Read data 0 and Read data 1.
For 32 bit registers, the read value will be placed in Read data 0-3.
Motor status
Bit
Function
Bit 6 (Decelerating) this bit is 1 when the motor is decelerating.
Bit 5 (Accelerating) this bit is 1 when the motor is accelerating.
Bit 4 (In position) this bit is 1 when the motor has reached its commanded position.
Bit 0 (Error) this bit is 1 when a motor error has occurred.
Input status
Bit
Function
Bit 5 (PL) Positive limit input.
Bit 4 (NL) Negative limit input.
Bit 3-0 (INx) user inputs.
Last direct register
See Direct register, page 182 for details.
184 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800
Read data 3 (MSB)
Read data 2
Read data 1
Read data 0
Motor status
Input status
Last direct register
Command Status
7 6 5
- Decelerating Accelerating
7 6 5
- - PL
Description
Data read from register
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Status bits for the motor
Status of inputs
Last accepted direct FlexMac command
Status bits for commands
4 3
In position -
4 3 2
NL IN4 IN3
2 1 0
- - Error
1 0
IN2 IN1