JVL MAC050 User Manual page 432

6.12
Reg. Firmware/ MacTalk
Nr. MacRegIo Name
Name
73 ACC0
(not present)
74 ACC1
(not present)
75 ACC2
(not present)
76 ACC3
(not present)
77 TQ0 Torque 1
(T1)
78 TQ1 Torque 2
(T2)
79 TQ2 Torque 3
(T3)
80 TQ3 Torque 4
(T4)
81 LOAD0 Load 1
(L1)
82 LOAD1 Load 2
(L2)
83 LOAD2 Load 3
(L3)
84 LOAD3 Load 4
(L4)
85 ZERO0
(not present)
86 ZERO1
(not present)
87 ZERO2
(not present)
88 ZERO3
(not present)
89 MODE0
(not present)
90 MODE1
(not present)
91 MODE2
(not present)
92 MODE3
(not present)
93 HWI0
(not present)
428
Registers
Range/ Size /
Default Access
Na / Word /
18 RW
(5003RPM/s²)
Na / Word /
18 RW
(5003RPM/s²)
Na / Word /
18 RW
(5003RPM/s²)
Na / Word /
18 RW
(5003RPM/s²)
Na / Word /
1023 RW
(300%)
Na / Word /
1023 RW
(300%)
Na / Word /
1023 RW
(300%)
Na / Word /
1023 RW
(300%)
Na / Word /
0 RW
Na / Word /
0 RW
Na / Word /
0 RW
Na / Word /
0 RW
Na / Word /
0 RW
Na / Word /
0 RW
Na / Word /
0 RW
Na / Word /
0 RW
Na / Word /
0 RW
Na / Word /
0 RW
Na / Word /
0 RW
Na / Word /
0 RW
Na / Word /
0 RW
JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
Unit Description
Enc.cnt's Can be activated with some FastMac commands to be copied to the A_SOLL
Per register. Can also be used for general-purpose or with the HWIxx registers.
sample²
Enc.cnt's Same use as the ACC0 register.
Per
sample²
Enc.cnt's Same use as the ACC0 register.
Per
sample²
Enc.cnt's Same use as the ACC0 register.
Per
sample²
Torque register T1. Used with the fastmac protocol or
by the MAC00-R1/3/4 nanoPLC module. See also
T_SOLL (register 7). Can also be used for general-purpose or with the HWIxx
registers.
- Torque register T2 - see also register 77.
- Torque register T3 - see also register 77.
- Torque register T4 - see also register 77.
- Can be activated with some FastMac commands. Can also be used for general-
purpose or with the HWIxx registers.
- Same use as the LOAD0 register.
- Same use as the LOAD0 register.
- Same use as the LOAD0 register.
- Can be activated with some FastMac commands. Can also be used for general-
purpose or with the HWIxx registers.
- Same use as the ZERO0 register.
- Same use as the ZERO0 register.
- Same use as the ZERO0 register.
- Can be used with the HWI functions to change mode depending n a hardware
input signal or a logical comparison.
- Same use as the MODE0 register.
- Same use as the MODE0 register.
- Same use as the MODE0 register.
- H ard are nputs Regs 93-104, HWI0-11, allow the digital inputs from Reg106 to W I
control the values of other motor registers.
The most common use is to copy one of two values to a target register. This can
be used to switch between two velocities, positions or modes. For instance to
switch between two target positions, set Reg49, POS0 to 1000 and Reg51,
POS1 to 2000 and set the motor into position mode. Then P_SOLL can be set
to receive either the value 1000 or 2000 depending on the voltage on the digital
input (the Input State)
The copying is executed every 1.0 or 1.3 ms. The digital inputs can thus be
considered level-triggered rather than edge-triggered.
(Contrinued next page)
Only MAC400 to 4500
T1510-02GB