JVL MAC050 User Manual page 411

6.12
6.12.2 MAC50 to 141 register list.
The following list is only valid for the MAC50, MAC95, MAC140 and MAC141 motors
including sub-version.
Reg. Firmware / MacRegIo
Nr. Name
0 N/A
1 PROG_VERSION
2 MODE_REG
3 P_SOLL, 32-bit
4 (high word of
P-SOLL)
JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
Registers
MacTalk Range /
Name Default
N/A N/A
Displayed on
bottom right
status line.
Startup mode /
Change
actual mode
Position -67M -
+67M
- -
Size / Unit Description
Access
N/A N/A Dummy register, do not use
Firmware version number.
The actual operating mode of the drive.
In general, the motor will either be passive,
attempt to reach a certain position, attempt to
maintain a constant velocity or attempt to
produce a constant torque. The various modes
define the main type of operation as well as
what determines the setpoint for that operation.
The special cases 256..258 are used to perform
a few special operations on the entire set of
registers.
Supported values are:
0 : Passive mode. The axis is not controlled
by the drive, and can easily be moved by
hand or external mechanics.
1 : Velocity mode. The drive will attempt to
run the motor at a constant velocity
selected by Reg5, V_SOLL, without
violating the maximum torque or
acceleration.
2 : Position mode. The drive will at all times
attempt to move the actual motor position
to the position selected by Reg3, P_SOLL,
without violating the maximum velocity,
torque or acceleration.
3 : Gear Position mode.
4 : Analogue torque mode.
5 : Analogue velocity mode.
6 : Analog Velocity Gear mode.
7 : Manual current mode.
8 : Step response test mode.
9 : Internal test mode.
10 : Brake mode.
11 : Stop mode.
12 : Torque based zero search mode.
13 : Forward/only zero search mode.
14 : Forward+backward zero search mode.
15 : Safe mode.
16 : Analogue velocity with deadband mode.
17 : Velocity limited Analog Torque mode.
18 : Analogue gear mode.
19 : Coil mode.
20 : Analogue bi-position mode.
21 : Analogue to position mode.
22 : Internal test mode.
23 : Internal test mode.
24 : Gear follow mode.
25 : IHOME mode.
256
257
258
32 bit The target position that the drive will attempt
R / W reach in position related modes.
-
Only MAC50 - 141
407