JVL MAC050 User Manual page 226

4.9 Expansion Module MAC00-R1/R3/R4
4.9.9 Command toolbox description
The toolbox used for programming comprises 16 different command types.
The idea is for the commands to give easy access to the most common functions in the
motor. Some functions may seem to be missing at first sight but the buttons "Set register
in the MAC motor" or "Wait for a register value before continuing" give direct access to
+50 registers down in the basic MAC motor, such as the gear ratio or the actual torque
register.
In total this provides a very powerful programming tool since >95% of a typical program
can be built using the simple command icons and the remaining part is obtained by ac-
cessing the basic motor registers directly.
A short description of all 16 command icons is given below.
Use: Initiates any
motor movement
relative or absolute.
Use: Unconditional
jump from one program
line to another.
Use: Inserts a delay in
the program specified
in milliseconds.
Use: Write a value
to almost any register in
the basic MAC/MIS motor.
Use: Wait for a certain
state at one or more of
the digital inputs.
Use: Initiates a zero
search to a sensor or
a torque (no sensor).
Use: Change mode
and activate register
using a single
command.
222 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800
Use: Inserts a remark/
Use: Set the motor in the
Comment in the program
desired mode such as
source code.
position- or velocity mode.
Use: Performs a
Use: Compares two
calculation using
registers to each other
register values
before jumping or
and contants.
moving in the program.
TT1103GB
Use: Set a certain
state at one or multiple
digital outputs.
Use: Conditional jump
from one program line
to another. Input dependent
Use: Wait for a certain
state at one or multiple
digital inputs.
Use: Conditional jump
from one program line to
another. Register dependent
Use: Save the actual motor
position to an intermediate
register.
Use: Preset the position
counter to a certain value.
Use: Binary format
instead of graphic
commands.