JVL MAC050 User Manual page 415

6.12
Reg. Firmware /
Nr. MacRegIo Name
36 CNTRL_BITS
37 STARTMODE
38 P_HOME, 32-bit
39 (hi-word of P_HOME)
40 V_HOME
41 T_HOME
42 HOMEMODE
43 P_REG_P
44 V_REG_P
45 A_REG_P
46 T_REG_P
47 L_REG_P
48 Z_REG_P
49 POS0 / P1, 32-bit
50 (hi-word of P1)
51 POS1 / P2, 32-bit
52 (hi-word of P2)
53 POS2 / P3, 32-bit
54 (hi-word of P3)
55 POS3 / P4, 32-bit
56 (hi-word of P4)
57 POS4 / P5, 32-bit
58 (hi-word of P5)
59 POS5 / P6, 32-bit
60 (hi-word of P6)
61 POS6 / P7, 32-bit
62 (hi-word of P7)
63 POS7 / P8, 32-bit
64 (hi-word of P8)
65 VEL0 / V1
66 VEL1 / V2
67 VEL2 / V3
68 VEL3 / V4
69 VEL4 / V5
70 VEL5 / V6
71 VEL6 / V7
72 VEL7 / V8
73 ACC0 / A1
74 ACC1 / A2
75 ACC2 / A3
76 ACC3 / A4
77 TQ0 / T1
78 TQ1 / T2
79 TQ2 / T3
80 TQ3 / T4
JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
Registers
MacTalk Range /
Name Default
Size / Unit Description
Access
Bit 0, USRINTF0
Bit 1, USRINTF1
Bit 2, PULSEDIR
Bit 3, INPSIGN
Bit 4, HICLK
Bit 5, HALL_INT
Bit 6, RECORDBIT
Bit 7, REWINDBIT
Bit 8, RECINNERBIT
Bit 9, AUTO_RESYNC
Bit 10, MAN_RESYNC
Bit 11, INDEX_HOME
Bit 12, REL_RESYNC
Bit 13, HALL_C
Bit 14, HALL_B
Bit 15, HALL_A
Velocity used during Zero Search/Homing
Negative => home on falling edge of AN_INP
Used by FastMac commands
Bit 0, COIL_START_DIR
Bit 1, COIL_POS_CMD
Bit 2, COIL_PWR_CMD
Bit 3, COIL_POS_ACCEPT
Bit 4, COIL_PWR_FLASH
Only MAC50 - 141
T T 1524GB
411