JVL MAC050 User Manual page 259

5.7 Expansion Module MAC00-FD4
5.7.12 Instance 2, Attribute 3, Motor status
With this object, the status of the motor can be monitored.
Bit
Data
Bit 7:
Bit 6:
Bit 5:
Bit 4:
Bit 3:
Bit 2:
Bit 1:
Bit 0:
5.7.13 Instance 3, Attribute 3, Module setup bits
This object is used for auxiliary setup of the module.
Bit
Setup
Endless relative: When this bit is 1, the endless relative position mode is used for incre-
mental positioning. When using this mode, absolute positioning can no longer be used.
Error action: Determines the action in the event of an error. Bit6 set to 0 will set the mo-
tor in passive mode in case of an error, Bit6 set to 1 will stop motor by setting velocity
to 0 in the event of an error.
5.7.14 Instance 3, Attribute 4, FastMac command
When writing to this attribute, a FastMac command is executed. Please refer to the
MAC00-FPx section for a description of the FastMac commands.
5.7.15 Instance 3, Attribute 5, Module command
When writing to this attribute, it is possible to execute some special commands on the
MAC00-FDx module.
The following commands are available:
Number
0
1
2
3-255
JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
7 6
Decele-
-
ration
Unused - reserved for future purposes.
Equals 1, if the velocity is decreasing.
Equals 1, if the velocity is increasing.
Equals 1, if the motor is in the commanded position.
Unused - reserved for future purposes.
Equals 1, if a limit switch has been activated.
Equals 1, if there is a communication error between the MAC00-FDx and the
motor. This can occur if the motor was reset due to a voltage drop.
Equals 1, if there is a fatal motor error. Read subindex 4 for extended informa-
tion.
7 6
Endless Error
relative action
Function
No operation
Reset limit error
Reset communication error
Reserved
5 4 3
Accele- In
-
ration position
5 4 3
Reserved
2 1 0
Limit
Discon- Motor
switch
nected error
error
2 1 0
255