JVL MAC050 User Manual page 281

5.8 Expansion Module MAC00-FP2/FP4
5.8.8 FastMac commands
Using the FastMac commands, it is possible to activate a set of registers and set the mode
of the motor using a single command. The command is composed of two parts. The first
part is the mode that the motor will use.
The following 4 modes can be selected:
Value
0
32
64
96
The second part of the command is a register number or sub-command number.
The following table shows the register numbers:
N Register
0 P1
1 P2
2 P3
3 P4
4 P5
5 P6
6 P7
7 P8
The following table shows the sub-commands:
N Command
0 No operation
1 Reset error
2 P_SOLL = 0
3 P_IST = 0
4 P_FNC = 0
5 V_SOLL = 0
6 T_SOLL = 0
7 Reset IN_POS, ACC,DEC
8 P_FNC = (FLWERR - P7) * 16
9 P_FNC = (FLWERR - P8) * 16
10 Reserved
11 Reserved
12 Activate P1,V1,A1,T1,L1,Z1
13 Activate P2,V2,A2,T2,L2,Z2
14 Activate P3,V3,A3,T3,L3,Z3
15 Activate P4,V4,A4,T4,L4,Z4
JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
Motor mode after command
Passive
Velocity
Position
<No change>
N Register
8 V1
9 V2
10 V3
11 V4
12 V5
13 V6
14 V7
15 V8
Format
Command = 0 + Register N
Command = 32 + Register N
Command = 64 + Register N
Command = 96 + Sub-command N
N Register
16 A1
17 A2
18 A3
19 A4
20 T1
21 T2
22 T3
23 T4
N Command
16 Start search zero
17 No operation
18 No operation
19 Reserved
20 Select absolute position mode
21 Select relative position mode using P_SOLL
22 Select relative position mode using P_FNC
23 No operation
24 No operation
25 No operation
26 No operation
27 No operation
28 No operation
29 No operation
30 Reserved
31 Reserved
N Register
24 L1
25 L2
26 L3
27 L4
28 Z1
29 Z2
30 Z3
31 Z4
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