JVL MAC050 - Page 206

202 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
5.6 Expansion Mod. MAC00-FC2/FC4/FC41
5.6.25 Object 2011h – Subindex 04h Last motor status (U16)
When a fatal motor error occurs, the ERR_STAT register from the MAC motor is re-
ceived and can be read from this object.
Notice that LOWORD only for MAC400, 402, 800, 1500 and 3000.
Recommended only to read ERR_STAT from motor.
Motor status table:
5.6.26 Object 2011h – Subindex 05h Output setup (U8)
This object is used to control the function of the outputs. When bit 3:2 = 0, the outputs
are controlled by the object 2011h, subindex 2.
When bit 3:2= 1 (default), the output is controlled by the default function. The default
function for O1 is “In position” and for O2 “Error”.
5.6.27 Object 2011h – Subindex 06h Input active level (U8)
With this object the active level of the inputs can be selected. When bit x = 0, the input
is active low and when bit x = 1, the input is active high.The default setup for the output
is active high.
Bit 0 Overload
Bit 1 Follow error
Bit 2 Function error
Bit 3 Regenerative error
Bit 4 In position
Bit 5 Accelerating
Bit 6 Decelerating
Bit 7 Position
Bit 7 6 5 4 3 2 1 0
Output Reserved
Enable
user write
to O2
Enable
user write
to O1
O2 O1
Bit 7 6 5 4 3 2 1 0
Input Reserved PL NL IN4 IN3 IN2 IN1