JVL MAC050, User Manual

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170 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800
4.5 Expansion Module MAC00-FD4
4.5.3 The position controller
The position controller contains 8 input bytes and 8 output bytes. All of the functions can
be accessed through these IO bytes.
The outputs define a Command Message with the following format:
The inputs define a Response Message with the following format:
These command messages are supported: 0x01, 0x02, 0x03, 0x05, 0x1B, 0x1F.
Refer to
1
for a description of the commands.
These response message types are supported: 0x01, 0x03, 0x05, 0x14, 0x1B, 0x1F.
Refer to
1
for a description of the responses.
4.5.4 Object class 100 H
Each instance has 2 attributes.
With this class, all parameters in the motor can be written and read.
The Instance number refers to the parameter number in the motor.
Attribute 1 = Value
Attribute 2 = Parameter size in bytes
Byte 7 6 5 4 3 2 1 0
0
Enable - Hard stop
Smooth
stop
Direction
(vel. mode)
Incremental -
Load
Data
1
Command Data 1
2
Command axis number Command message type
3
Command Data 2
4
Command Data 3
5
Command Data 4
6
Command Data 5
7
Command Data 6
Byte 7 6 5 4 3 2 1 0
0
Enable - - -
General
fault
On target
position
-
Profile in
progress
1
Response Data 1
2
Load
Complete
- - - -
Reverse
limit
Forward
limit
-
3
Response Axis number Response Message Type
4
Response Data 2
5
Response Data 3
6
Response Data 4
7
Response Data 5