JVL MAC050 User Manual page 420

6.12
6.12.3 MAC400, 402, 800, 1200, 1500, 3000 and 4500 register list.
The following list is only valid for the MAC400, MAC402, MAC800, MAC1000,
MAC1200, MAC1500, 3000 and MAC4500 motors.
The list is valid from firmware version 2.16 or newer.
Reg. Firmware /
Nr. MacRegIo Name
0 N/A
1 PROG_VERSION
2 MODE_REG
416
Registers
MacTalk Range /
Name Default
N/A N/A
Displayed on -
bottom right
status line.
Startup 0..25,
mode / 256,
Change 257,
actual mode 258 /
0
(passive)
JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
Size / Unit Description
Access
N/A N/A Dummy register, do not use.
- - Firmware version
/ This value contains major and minor verison number,
R and bits for overall drive types miniMAC,
MAC400...3000 or stepper drives/controllers.
Word - The actual operating mode of the drive.
/
RW 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 dead-band 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.
26 = IIHOME mode.
256 = Load firmware default register values and save
in flash.
257 = (Re)load register values last saved in flash.
258 = Save all register values in flash and reset.
Only MAC400 to 4500
TT1500-03GB