JVL MAC050 User Manual page 276

5.8 Expansion Module MAC00-FP2/FP4
Command
Bit
Function
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1 and Bit 0 should be 0.
Input setup
Bit
Function
Bit 6
Bit 5
Bit 4
Bit 3-0
272
7 6
Write Read
Toggle Toggle
(Write toggle) is used for writing data to the selected register (Write reg-
ister selector). When this bit is toggled, writing is executed. The write
command is accepted when Bit 7 in the command status (output data byte
7) is equal to this bit.
(Read toggle) is used for reading data from the selected register (Read reg-
ister selector). When this bit is toggled, reading is executed. The read
command is accepted when Bit 6 in the command status (output data byte
7) is equal to this bit.
(Write 32 bit) Set this to 1 if writing to a 32 bit register and 0 if writing to
a 16 bit register.
(Read 32 bit) Set this to 1 if reading from a 32 bit register and 0 if reading
from a 16 bit register.
(Auto write) When this bit is 1, the data written in write data 0-3, is trans-
ferred to the MAC motor immediately, regardless of the write toggle bit.
(Auto read) When this bit is 1, the data in read data 0-3 is updated all the
time, regardless of the read toggle bit.
7 6
- Reset end limit PL Enable
(Reset end-limit) When this bit is 1, the end limit condition is reset, if no
end limits are activated.
(PL Enable) When this bit is 1, the positive end-limit is enabled.
(NL Enable) When this bit is 1, the negative end-limit is enabled.
(Input mode) these bits select the current input mode. See section
modes, page 275
JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
5 4 3
Write Read Auto
32 bit 32 bit write
5 4
NL Enable
for details.
2 1 0
Auto
Reserved Reserved
read
3 2 1
Input mode
0
Input