76 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors
3.6 Examples
Register 2 (Operating mode) has to be present in BOTH the cyclic read words and cyclic
write words.
Procedure in the PLC:
• Treat the transmitted Register 2 as "Requested_Mode" and the received register 2 as
"Actual_Mode".
• When homing is wanted, set the "Requested_Mode" to one of the values 12, 13 or
14, 25 or 26 depending of the requested homing mode (12 = Torque based zero
search mode (only MAC motors). 13 = Forward/only zero search mode. 14 = For
-
ward+backward zero search mode (only MAC motors). 25 = Enc. index (only
MAC400+). 26 = Enc. quick index (only MAC400+)
.). For a comprehensive descrip-
tion of the homing modes, refer to the general MAC motor manual - LB0047-xxGB.
• Observe that the "Actual_Mode" is changing to the homing mode. Now the module
is blocking cyclic writes TO the motor. Cyclic reads is still active.
• Wait for register 35 "Error status" bit 4 to be active =IN_POSITION. (Indicates that
homing is finished).
• Then change "Requested_Mode" to whatever needed. The blocking of cyclic writes
to the motor is then released by the module.
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