JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 231
9.2 Register Descriptions.
9.2.11 Register 11 - Input mask
Only applicable for MAC00-Ex4/-Ex41
Only applicable to EtherCAT® with CiA402 drive profile.
This register is used to setup input mask on the digital inputs (IN1-4).
NL mask Bit set results in that corresponding input is configured as Negative Limit
switch. Bit 0-3 corresponds to IN1-4.
PL mask Bit set results in that corresponding input is configured as positive Limit
switch. Bit 8-11 corresponds to IN1-4.
NO mask Bit set results in corresponding limit switch input is inverted and now acts as
a normally open (NO) switch. Bit 16-19 corresponds to IN1-IN4.
9.2.12 Register 12 - Default homing method.
Only applicable to EtherCAT® with CiA402 drive profile.
This register sets a default method used for homing in CiA402 drive profile. The value of
this register is copied to object 6098 - Homing Method at power up. This register has to
be saved in module flash.
9.2.13 Register 15 - Command register
This object is used for sending commands to the module and is write only.
Use this register instead of the MAC/MIS/MIL motor command register when used cy-
clic, to make sure that commands are only executed once.
If this register is placed in the cyclic list, and it is requested to execute the same command
more than once, then it is required to send a "No operation" command in between.
The possible commands are listed in the three tables shown below and in the next pages.
• The first table lists commands executed by the Ethernet module it self, which is mainly
common to all MAC and MIS/MIL motors.
• The second table lists commands which are redirected to the MAC motor command
register and executed by the MAC motor controller, if the Ethernet module is installed
in a MAC motor.
• The third table lists commands which are redirected to the MIS/MIL motor command
register and executed by the MIS/MIL motor controller, if the Ethernet module is in
-
stalled in a MIS/MIL motor.
Bit 20-31 16-19 15-12 11-8 7-4 3-0
Output Reserved No mask Reserved PL mask Reserved NL mask
Bit 31-8 7-0
R/W Reserved Default homing method
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