JVL MAC050 User Manual page 254

5.7 Expansion Module MAC00-FD4
5.7.4 IO-messages.
The JVL MAC00-FD module offers 8 byte I/O.
These bytes are organized in a standard frame specified by the ODVA organisation.
Depending on what kind of information that is needed different message types are used.
Message types are organized in the lower bit 0-4 in byte 2 and the different message
types supported are:
0x1:
0x2:
0x3:
0x5:
0x1B: "Position controller attribute"
0x1F:
For setting a target position the Command Message type 0x1 is used. Accessing registers
directly in the motor message type 0x1F is used. For a general motor register overview
please consult
The outputs define a Command message covering the message types 0x1, 0x2, 0x3, 0x5
with the following format:
Byte
0
1
2
3
4
5
6
7
Corresponding response frame from the motor is formatted in the following way.
The message frame for the types 0x1, 0x2, 0x3, 0x5.
Byte
0
1
2
3
4
5
6
7
250
"Target position"
"Target velocity"
"Acceleration"
"Torque"
"Parameter" (register)
MacTalk communication, page
7 6 5
Enable - Hard stop
0x1
0x1
0x1
Data value byte 0
Data Value byte 1
Data Value byte 2
Data Value byte 3
7 6 5
Hard Stop Smooth
Enable -
0x1
Load
- -
Complete
0x1
Data value byte 0
Data Value byte 1
Data Value byte 2
Data Value byte 3
JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
402.
4 3
Smooth Direction
stop (vel. mode)
Command message type
Response message type
4 3
Direction
Stop (V. Mode)
- -
Response Message Type
2 1 0
Load
- -
Data
2 1 0
Load
- -
data
Reverse Forward
-
limit limit