JVL MAC050 User Manual page 413

6.12
Reg. Firmware /
Nr. MacRegIo Name
25 (high word of FNCERR)
26 FNCERRMAX, 32-bit
27 (hi-word of
FNCERRMAX)
28 MIN_P_IST, 32 -bit
29 (hi-word of MIN_P_IST)
30 MAX_P_IST, 32 -bit
31 (hi-word of
MAX_P_IST)
32 ACC_EMERG
33 INPOSWIN
34 INPOSCNT
35 ERR_STAT
JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
Registers
MacTalk Range /
Name Default
Size / Unit Description
Access
Bit 0, I2T_ERR
Too much energy dissipated in the motor
windings. Set when Reg16, I2T, exceeds
Reg17, I2TLIM
Bit 1, FLW_ERR
The actual position is too far behind the ideal
position. Set when FLWERRMAX is non-zero,
and FLWERR exceeds FLWERRMAX.
Bit 2, FNC_ERR
The value of Reg24, FNCERR, exceeded the
value of Reg26, FNCERRMAX.
Bit 3, UIT_ERR
The value of Reg18, UIT, exceeded the value of
Reg19, UITLIM.
Bit 4, IN_POS
For position-related modes: The actual position
was detected to be inside the InPosition window
(Reg33, INPOSWIN) at least the number of
times defined in Reg34, INPOSCNT. For other
modes: Depends on mode; for velocity related
modes, this bit means AtVelocity; for other more
special modes, this bit is calculated differently,
ask JVL for details.
Bit 5, ACC_FLAG
The drive is currently accelerating (the velocity
is increasing).
Bit 6, DEC_FLAG
The drive is currently decelerating (the velocity
is decreasing).
Bit 7, PLIM_ERR
One of the software position limits was
exceeded,, drive will go into stop mode, then
passive mode automatically.
Bit 8, FRAME_ERR_TX
A framing error was detected during the last
reception on the FastMac protocol.
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Only MAC50 - 141
T T 1522GB
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