JVL MAC050 User Manual page 260

5.7 Expansion Module MAC00-FD4
5.7.16 Object class 0xF (Parameter)
This object class is the parameter class defined by the DeviceNet standard.
The attributes that are mapped into this object are from object class 0x64 and 0x65.
Instance 0-239 is mapped to the value attribute in object class 0x64 from the correspond-
ing instance.
Instance 240-255 is mapped to attributes from object class 0x65. Refer to the description
of this object class for the mappings.
5.7.17 Object class 0x24 (Position Controller Supervisor)
This object class is the Position controller supervisor object, as defined in the DeviceNet
standard.
The following class attributes are supported: 1,2,3,6,32,33.
The following attributes are supported for instance 1: 1,3,5,6,7.
5.7.18 Object class 0x25 (Position Controller)
This object class is the position controller object, as defined in the DeviceNet standard.
The following attributes are supported for instance 1:
1,2,3,6,7,8,10,11,12,13,14,17,20,21,25,45,48,49,52,54,55,58.
The range for attribute 25:Torque is 0-1023.
The following additional manufacturer-specific attributes are supported:
Attribute ID
100
101
102
103
104
256
Access rule Data type Description
Get/Set
Get/Set
Get/Set
Get/Set
Get/Set
JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
Search mode. This mode will be used next time the con-
USINT
troller is enabled and the selected mode is position. This
value will be cleared after the enable.
DINT
The Homing offset in counts
DINT The velocity to use during Homing in encoder counts per
second.
The torque limit to use during Homing. The range is -
DINT
1023 to 1023. A negative torque value means that the
zero sensor is active low.
BOOL Use Index. If this is enabled, the zero point will be cor-
rected with reference to the motors index mark.