JVL MAC050 User Manual page 440

6.12
Reg. Firmware / MacRegIo
Nr. Name
202 MY_ADDR
203 MOTOR_TYPE
204 SERIAL_NUMBER
205 HW_VERSION
206 CHKSUM
207 USEROUTVAL
208 COMM_ERRS
209 INDEX_IST
210 HW_PLIM
211 COMMAND_REG
436
Registers
MacTalk Size /
Name Access
Na / Word /
(not present)
0 RW
Na / Word /
(not present)
0 R
Na / Word /
(not present)
0 R
Na / Word /
(not present)
0 R
Na / Word /
(not present)
0 R
Na / Word /
(not present)
0 RW
Na / Word /
(not present)
0 RW
0..8191 Word /
(not present)
or R
0..7999
Na / Word /
(not present)
0 RW
Na / Word /
(not present)
0 RW
JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
Description
-
- Value read from factory flash memory to identify the type of motor:
12=MAC400, 13=MAC400B,
16=MAC402, 17=MAC402B
14=MAC800, 15=MAC800B,
56=MAC1000, 57=MAC1000B
58=MAC1200, 59=MAC1200B
18=MAC1500, 22=MAC1500B
24=MAC3000, 25=MAC3000B
32=MAC4500, 33=MAC4500B.
- Value read from factory flash memory to show the JVL serial number
of the motor.
- Bits [23:20]: Value read from factory flash memory to identify the
Main version of the bootloader.
Bits [19:16]: Value read from factory flash memory to identify the
Minor version of the bootloader.
Bits [7:4]: Value read from factory flash memory to identify the Main
version of the PCB controller board hardware.
Bits [3:0]: Value read from factory flash memory to identify the Minor
version of the PCB controller board hardware.
The remaining bits are reserved.
- Value read from factory flash memory to show the checksums of the
firmware and the bootloader.
- The values of bits [1:0] are output to the standard InPosition and
ErrorOut hardware signals if the corresponding bits [9:8],
USER_INPOS and USER_ERROR, in Reg39, HW_SETUP are set.
- Counts the number of communication errors that have occurred on
the MacTalk serial interface. Errors can be framing errors and
protocol data errors.
- Actual single-turn position of the internal encoder, valid for both
incremental and absolute encoders.
- Hardware position limits – used by the MAC00-FSx module.
- 1=Reset, 2=Save to flash and reset,
128..255 = Execute FastMac commands.
Other selected commands are described below. There are also
several undocumented commands used internally for JVL factory and
service. Please do not use undocumented commands, since this can
lead to dangerous situations.
Commands are described with the hexadecimal numbers, like
0x1000 hex equal to 4096 decimal.
0x200, CMD_PMULTITURN_TO_POFFSET:
Copies the position from the absolute multi-turn encoder into its offset
register with inverted sign. This can be used to set a new zero
position for the absolute encoder. Please note a save in flash
operation is required to use the new value.
Only MAC400 to 4500
TT15 18 -02GB