JVL MAC050 User Manual page 207

5.6 Expansion Mod. MAC00-FC2/FC4/FC41
5.6.28 Object 2011h – Subindex 07h Input setup (U8)
With this object the dedicated function of the inputs can be enabled. When the corre-
sponding bit is 0, the input functions as a normal input. When the corresponding bit is 1,
the dedicated function of the input will be enabled. When the end limit inputs NL or PL
are enabled and one of these is activated, the error action will be executed. The error
action is defined in object 2011h subindex 8.
Bit 1 - "Input Mirror". Setting this bit will transfer the state of the inputs NL, PL, IN1-4
to the "Input" register in the basic motor. This is useful if the inputs are used in for ex-
ample a "ePLC" program (graphic programming).
Notice that only MAC00-FCx Firmware newer than 3.00 supports this feature.
Bit
Input
5.6.29 Object 2011h – Subindex 08h Setup bits (U8)
This object is used for auxiliary setup of the module
Bit
Setup
Bit 0:
Bit 1:
Bit 2:
Bit 3:
Bit 4:
Bit 5:
Bit 6:
Bit 7:
JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
7 6
Reserved
7 6
Endless Error
relative action
SCAN_P_IST: When this bit is 1, the P_IST is scanned all the time. The transmit
PDO21 will then send the last scanned position instead of reading the position.
SCAN_V_IST: When this bit is 1, the V_IST is scanned all the time. The transmit
PDO22 will then send the last scanned velocity instead of reading the velocity.
SCAN_VF_OUT: When this bit is 1, the VF_OUT (actual motor torque) is
scanned all the time. The transmit PDO23 will then send the last scanned torque
instead delaying the response by first having to read the torque from the motor.
Only valid from firmware version 3.02.
SCAN_ANINP: When this bit is 1, the ANINP (analogue input register) is
scanned all the time. The transmit PDO24 will then send the last scanned value
instead of reading the analogue value register which takes additional time.
USRERR_ACK: If set, the motor will require the user to clear/acknowledge a
heartbeat error before the motor can turn again. This is a safety measure re-
quired in some applications. Only valid from firmware version 3.02.
DISAB_402_CW: Disables the DSP402 control word in PDO 3 to 7.
Error action: 0= set motor in passive mode, 1 = stop motor by setting velocity
to zero.
Endless relative: When this bit is 1, the endless relative position mode is used
when doing relative positioning in DSP402. When using this mode, absolute po-
sitioning can no longer be used.
5 4 3
PL NL Reserved
5 4 3
DISAB_ USRERR SCAN_
402_CW _ACK ANINP
2 1 0
Input
Mirror
2 1 0
SCAN_ SCAN_ SCAN_
VF_OUT V_IST P_IST
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