JVL MAC050 User Manual page 205

5.6 Expansion Mod. MAC00-FC2/FC4/FC41
5.6.22 Object 2011h – Subindex 01h Input status (U8)
This object is used to read out the actual value of the inputs.
Bit
Input
PL is the positive limit switch input, and NL is the negative limit switch input. IN1-IN4 is
the digital user inputs. The CAN V+ bit reflects the actual voltage level at the CAN V+
terminal which can be supplied with 0V (or unconnected) or 24VDC nominal.
On the MAC00-FC2 module the inputs are connected via J2, and on the MAC00-FC4 or
FC41 modules the input is connected via the M12 connectors marked I/O.
5.6.23 Object 2011h – Subindex 02h Outputs (U8)
With this object the outputs can be controlled.
The value written to this object is directly shown on the outputs if the outputs are not
set to use the default function (see subindex 5).
Bit
Output
01 and 02 are the digital user output 1 and 2. On the MAC00-FC2 module the outputs
are connected via J4, and on the MAC00-FC4 module the outputs are connected via the
M12 connectors marked I/O.
5.6.24 Object 2011h – Subindex 03h Motor status (U8)
With this object the status of the motor can be monitored.
Bit
Data
Bit 6:
Bit 5:
Bit 4:
Bit 2:
Bit 1:
Bit 0:
JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
7 6
Reserved CAN V+
7 6
Reserved
7 6
Decele-
Reserved
ration
Equals 1, if the velocity is decreasing.
Equals 1, if the velocity is increasing.
Equals 1, if the motor is at the commanded position.
Equals 1, if a limit switch has been activated.
Equals 1, if there is a communication error between the MAC00-FC and the mo-
tor. This could occur if the motor has been reset due to a voltage drop.
Equals 1, if there is a fatal motor error. Read subindex 4 to get extended infor-
mation.
5 4 3
PL NL IN4
5 4 3
5 4 3
Accele-
In position Reserved
ration
2 1 0
IN3 IN2 IN1
2 1 0
O2
O1
2 1 0
Limit
Discon- Motor
switch
nected Error
Error
201