JVL MAC050 User Manual page 441

6.12
Reg. Firmware / MacRegIo
Nr. Name
211 COMMAND_REG
(continued)
JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
Registers
MacTalk Size /
Name Access
Na / Word /
(not present)
0 RW
Description
- 0x1000: CMD_AUTO_ENC_ADJUST:
Will find the correct offset for an incremental encoder by turning the
shaft rather slowly until the encoder index position is found. Please
note the value will not be saved in flash, so if the offset is found to be
wrong, compared to the flash value, the motor will have to be
serviced by JVL. A wrong value can indicate that the encoder is
defective or has slipped on the shaft.
0x100B, CMD_RXDUMP_ON:
0x100C, CMD_RXDUMP_OFF:
These two commands turn ON/OFF a debug function that writes each
byte received in a Modbus telegram into registers 350 onwards. (In
earlier firmwares register 49 onwards). This is used to see what data
bytes the motor actually receives between two pauses in the
communications.
0x1015, CMD_PID_OFF:
0x1016, CMD_PID_ON:
0x1017, CMD_PID_ON_DEBUG2:
0x1018, CMD_PID_ON_DEBUG3:
These can be used to activate/deactivate a general-purpose PID
(Proportional/Integral/Derivate) closed loop function. This can be
useful to control motor velocity or torque using an external sensor.
Please contact JVL for more information, if needed.
0x101A, CMD_SET_REG_SCALE:
This sets on-the-fly scaling factors for one register from values in
registers 158 through 162.
0x101B, CMD_GET_REG_SCALE:
This reads on-the-fly scaling factors for one register into values in
registers 158 through 162.
0x101C, CMD_SET_REG_SCALE_DEFAULT:
Sets the scaling of all registers to 1.00.
On-the-fly scaling won't change the scaling of the registers inside the
motor, but only scale during read/write operations on the MacTalk,
Modbus or eRxP interfaces, as individually selected.
0x101F, CMD_COMM_LOG_ON:
0x1020, CMD_COMM_LOG_OFF:
Enables/disables logging of each register number and value (not
byte) received/sent on the Modbus serial interface into the sample
buffer. This is used to debug communications between the basic
motor and interface modules or user Modbus communications. The
data can be read using special tools from JVL, or accessed via the
eRxP interface.
0x1026, CMD_SAFE_RESET:
This command will begin the process of saving in flash and reset. It is
different than command value 2, since value 2 will abort without doing
anything if the motor is not in passive mode at the time the command
was received.
Command 0x1026 will first switch the motor into passive mode, wait
for the shaft to reach a safe low speed, then save in flash and reset.
In other words, this command can be given at any time.
Only MAC400 to 4500
TT15 19 -02GB
437