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JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors
147
Default registers in receive PZD (Master > Slave)
- Only MAC-EPx
Please notice:
Even though all registers is transmitted as 32 bit, some of them
originally derive from 16 bit in the case of MAC050-141. In those situations it
is necessary to interpret them as 16 bit to get the sign correct.
Default registers in transmit PZD (Slave > Master)
- Only MIS/MILxxxxxxEPxx
Default registers in receive PZD (Master > Slave)
- Only MIS/MILxxxxxxEPxx
The MIS/MIL motor registers 24, 35 and 36 should
NOT
be inserted in the cyclic write
list, as this may give unpredictable results. For clear of errors, reset of motor etc. please
insert the module command register (=983040 in Mactalk) in the cyclic write list and
send commands this way. For a list of commands for the module command register
Object index
Register no. Motor register short
Motor register description
0
2
MODE_REG
Operating mode
1
3
P_SOLL
Target position
2
5
V_SOLL
Maximum velocity
3
7
T_SOLL
Maximum torque
4
-
-
-
5
-
-
-
6
-
-
-
7
-
-
-
Object index
Register no. Motor register short
Motor register description
0
2
MODE_REG
Operating mode
1
10
P_IST
Actual position
2
12
V_IST
Actual velocity
3
35
ERR_STAT
Error bits
4
36
WARN_BITS
Warning bits
5
-
-
-
6
-
-
-
7
-
-
-
Object index
Register no. Motor register short
Motor register description
0
2
MODE_REG
Operating mode
1
3
P_SOLL
Requested position
2
5
V_SOLL
Requested velocity
3
6
A_SOLL
Requested acceleration
4
-
-
-
5
-
-
-
6
-
-
-
7
-
-
-
!
Summary of Contents for MAC00-EC4
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Page 257: ...JVL Industri Elektronik A S User Manual Ethernet for MAC and MIS motors 257 12 Appendix ...