JVL MAC050 - Page 208

204 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
5.6 Expansion Mod. MAC00-FC2/FC4/FC41
5.6.30 Object 2011h – Subindex 09h Setup bits 2 (U16)
This subindex holds several configuration bits.
Bit-0: TxPDO22 combines Actual velocity and Actual Torque. Instead of standard Ac-
tual Velocity.
Bit-1: Will execute the operation selected for error (Passive mode or set Max. Velocity
to zero) when there is a BusOff condition, and then reinitialize the CAN system
to clear the condition and reset error counters for receive and transmit errors.
If this bit is zero, only the re-initialization will be executed, but the motor can
continue running during the re-initialization and cannot be controlled from the
CAN line until the re-initialization has finished and the CAN master has per
-
formed initialization of PDOs and other object used.
Bit-2: Reserved.
Bit-3: Reserved.
Bit-4: Selects to auto-read the register selected by object 0211-subindex 13 (decimal).
This makes it usable with Event Timer transmission and for generally faster re
-
sponse to SYNC’ed TxPDO23.
Bit-5: Selects to auto-read the register selected by object 0211-subindex 14 (decimal).
This makes it usable with Event Timer transmission and for generally faster re
-
sponse to SYNC’ed TxPDO24.
Bit-6: Reserved.
Bit-7: Reserved.
5.6.31 Object 2011h – Subindex 0Ah Reserved 2 (U16)
Reserved for future use.
5.6.32 Object 2011h – Subindex 0Bh UserReg16RcvSelect (U8)
Reserved for future use.
5.6.33 Object 2011h – Subindex 0Ch UserReg16RcvSelect (U8)
Reserved for future use.
5.6.34 Object 2011h – Subindex 0Dh UserReg1XmitSelect (U8)
If set non-zero, holds the register number to be transmitted in TxPDO23.
This will automatically change the length of TxPDO23 from 2 to 6 bytes.
5.6.35 Object 2011h – Subindex 0Eh UserReg2XmitSelect (U8)
If set non-zero, holds the register number to be transmitted in TxPDO24.
This will automatically change the length of TxPDO24 from 2 to 6 bytes.
5.6.36 Object 2011h – Subindex 0Fh UserReg16RcvData (U16)
Reserved for future use.