JVL MAC050 User Manual page 219

5.6 Expansion Mod. MAC00-FC2/FC4/FC41
Name
Veloctity_encoder_factor_
number_of_entries
Velocity_encoder_factor_
Numerator
Velocity_encoder_factor_
Divisor
Acceleration_factor_number_
of_entries
Acceleration_factor_
Numerator
Acceleration_factor_Divisor
Polarity
SampleFreq
Homing_Torque
Module Parameters:
Inputs status
Outputs
Motor status
Last motor status
Output setup
Input active level
Input setup
Setup bits
Data (256 motor registers)
Fastcommand (Send FastMac
command)
JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
COB
ID Sub-
Desc. (hex) index
RO 6094h 0
6094h 1
RPM 6094h
2
RO 6097h 0
6097h 1
RPM 6097h 2
Bit7:
InvPos.
607Eh 0
Bit6:
InvVel.
2100h 0
2011h 1
2011h 2
2011h 3
2011h 4
2011h 5
2011h 6
2011h 7
2011h 8
2012h x
2013h 0
Motor Initial
register Value
2
4096 or 8000
60
2
4096 or 8000
60
520.833 or
770
500 in V2.0,
T_HOME
30 in V2.1
0
0
0
0x3F
0
Scalefactor Update/
to motor write
See formula in
section 5.6.47
CF_Upd,
>Velocity_factor
CF_Upd,
>Velocity_factor
See formula in
Factors, page
216
CF_Upd.>
Acceleration_
factor
CF_Upd Accele-
ration_factor
CF_Upd,
>Position_factor
>Velocity_factor
Not CF_Upd,
>Velocity_factor
>Acceleration_
factor
At start of
1.023
homing
215