JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500 207
5.6 Expansion Mod. MAC00-FC2/FC4/FC41
5.6.40 Object 2013h – Subindex 00h FastMac command.
When writing to this object, a FastMac command is executed. Please refer to the
MAC00-FPx section for a description of the FastMac commands.
5.6.41 Enable and Disable PDOs
In the CANOpen® profile it is only possibly to have four transmit and four receive PDOs
enabled at the same time. In the MAC00-FCxx all PDOs are disabled when the module
is booted up, the user has to choose which PDOs the application will use, and enable
these.
To enable or disable a PDO it is necessary to write to the MSB (bit 31) in the PDO COB-
ID entry in the PDO communication parameter Record. The COB-ID register is sub-in
-
dex 1h, and the value range of this register is UNSIGNED32.
The PDOs are enabled when bit 31 is 0, and is disabled when bit 31 is 1.
Sub-
index
(Hex) Name
Data
type
Read/
Write
Default
(Hex)
Unit Description
1Eh MAX_P_IST Long int Read
Encoder
counts
Software position limit
negative
20h ACC_EMERG Word Write
Counts/
sample
2
The maximum allow de-
celeration when a Unre-
coverable error has
occurred
21h INPOSWIN Word Write Encoder
counts
If actual position is within
this window, the motor is
in position
22h INPOSCNT Word Samples The number of samples
the motor has to be within
the pos. interval spec.in
INPOSWIN
23h ERR_STAT Unsigned16 Read Motor status:
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 limits error
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