JVL MAC050 - Page 204

200 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
5.6 Expansion Mod. MAC00-FC2/FC4/FC41
5.6.20 Manufacturer specific object dictionary
Writing to these object in CanOpenExplorer is done by pressing W, on the keyboard
when the register in the folder Manufacturer specific is selected. Reading is done by
pressing R.
5.6.21 Object 2010h - Subindex 0 Reset
When writing to this object (sub index 0), it is possible to execute some special com-
mands for the MAC00-FCx module. The following commands are available:
Index
(hex)
Sub
Index Type Read only Default Description
Command 2010h 0
UNSIGNED8
Execute a MAC00-FCx
command
Module
parameters
2011h 0
UNSIGNED8
X 8 Subindex count
1
UNSIGNED8
X
Input status
IN1 - IN4, NL, PL
2
UNSIGNED8
Output
3
UNSIGNED8
X Motor Status
4
UNSIGNED16
X Last Motor Error
5
UNSIGNED8
Output setup
6
UNSIGNED8
0x3Fh Input active level
7
UNSIGNED8
Input setup
8
UNSIGNED8
Setup bits
Motor
parameters
2012h 0
UNSIGNED 8
X 254d Subindex count
n
UNSIGNED32
Access to the motor
parameter n
FastMac
Command
2013h 0
UNSIGNED 8
Executes a FastMac
command
Homing
Torque
2100h 0
UNSIGNED16
1000d
Defines the torque limit
used during homing with
DSP-402
Number Function
0 No operation
1 Reset limit error
2 Reset communication error
3 + 4 Reserved for MacTalk debugging
5 Reset module only - the basic motor will not be reset
6 Sync. reset module + motor
7-255 Reserved