JVL MAC050 User Manual page 324

5.11 Expansion Module MAC00-R1/R3/R4
5.11.9 Command toolbox description
The toolbox used for programming comprises 16 different command types.
The idea is for the commands to give easy access to the most common functions in the
motor. Some functions may seem to be missing at first sight but the buttons "Set register
in the MAC motor" or "Wait for a register value before continuing" give direct access to
+50 registers down in the basic MAC motor, such as the gear ratio or the actual torque
register.
In total this provides a very powerful programming tool since >95% of a typical program
can be built using the simple command icons and the remaining part is obtained by ac-
cessing the basic motor registers directly.
A short description of all 16 command icons is given below.
320 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500