206 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
5.6 Expansion Mod. MAC00-FC2/FC4/FC41
5.6.39 Object 2012h – Motor parameters
With this object all the registers of the MAC motor can be accessed. All the registers are
accessed as 32 bit. When reading and writing to 16 bit registers, the values are automat
-
ically converted in the module. In addition to these features listed in the table below,
many more are accessible. In total, the MAC motor contains more than 150 internal reg
-
isters such as nominal velocity, actual position, etc. But please note that several registers
are not for the normal user and damage may occur if the contents of these registers is
changed. The table shows the most commonly used registers.
Continued next page
Sub-
in-
dex
(Hex)
Name
Data
type
Read/
Write
De-
fault
(HEX)
Unit Description
00h Number of entries UNSIGNED8 Read FDh
01h PROG_VERSION VISIBLE_STRING Read 78h
02h MODE_REG UNSIGNED16 Write 0: Passive mode
1: Velocity mode
2: Position mode
3: Gear mode
4: Analogue Torque
mode
5: Analogue Velocity
mode
6: Analogue Velocity/
Gear mode
7-11: Reserved
12: Torque Homing
13: Sensor type1 Homing
14: Sensor type2 Homing
03h P_SOLL UNSIGNED32 Write
Encoder
counts
The commanded
position
05h V_SOLL UNSIGNED16 Write
Counts/
sample
Desired velocity
06h A_SOLL UNSIGNED16 Write
Counts/
sample
2
The maximum allo-
wed acceleration
07h T_SOLL UNSIGNED16 Write
The maximum
allowed torque
0Ah P_IST UNSIGNED32 Read
Encoder
counts
The actual position
0Ch V_IST UNSIGNED16 Read
Counts/
sample
The actual velocity
0Eh GEAR_1=0 Integer Write
Gear output factor
used in gear mode
0Fh GEAR_2=0 Word Write
Gear input factor
used in gear mode
10h I2T Word Read
Motor temperature
calculated
11h I2tLIM Word Read
Error trip level used
for I2T register
1Ch MIN_P_IST Long int Read
Encoder
counts
Software position
limit-positive
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