JVL MAC050 - Page 217

JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500 213
5.6 Expansion Mod. MAC00-FC2/FC4/FC41
5.6.46 Supported objects
Most of the DSP-402 parameters start up in the module with-coded values. A few of
them are set depending on the motor type the module is attached to - either MAC50-
141 or MAC400-800. None of the parameters can be saved to flash in the module.
The following table shows the additional object dictionary defined for DSP-402 support.
The numbers in brackets, in the update/write field, bold, refer to the formula for the
factors in the section Factors, page 216.
Name Desc
COB
ID
(hex)
Sub-
in-
dex
Motor
register
InitValue
Scalefactor
to motor
Update/
write
Device data
Motor_type 6402h 0 10
Motor_catalog_number 6403h 0 MACxxx
Motor_manufacturer 6404h 0 JVL A/S
http_motor_catalog_address 6405h 0 www.JVL.dk
Supported_drive_modes 6502h 0 45
Drive_catalog_number 6503h 0 MACxxx
Drive_manufacturer 6504h 0 JVL A/S
http_drive_catalog_address 6505h 0 www.JVL.dk
Digital I/O
Digital_inputs 60FDh 0
Motor
status
When HW inputs or
motor status (change)
See formula in section
Factors, page 216
Digital_outputs_numbers_of_entries 60FEh 0 2
Digital_outputs_Physical_outputs 60FEh 1 HW output 0
Imm.
Digital_outputs_Bit_mask 60FEh 2 HW output 0
Imm.
Device control
Abort_connection_option_code N/U 6007h 0
Error_code N/U 603Fh 0
Controlword 6040h 0
Statusword 6041h 0
Quick_stop_ortion_code 605Ah 2 Used in state machine
Modes_of_operation 6060h 0
Mode_of_operation_display 6061h 0
Profile Position parameters
Position_actual_value 6064h 0 1/Position_factor BusyRead
Target_position 607Ah 0 P1 Position_factor
Positionmode when bit
in Controlword is set
Software_position_limit_number_
of_entries
607Dh 0 0
Software_position_limit_
Min_position_limit
607Dh 1 0 0
Software_position_limit_
Max_position_limit
607Dh 2 0 0
Position_window 6067h 0 Z1 100 Position_factor Imm.
Position_window_time 6068h 0
IN-
POSCNT
6 SamleFreq/1000 Imm
Max_motor_speed N/U 6080h 0
5000 or
4000
Profile_velocity N/U 6081h 0 V1 100 Velocity_factor Imm
Profile_acceleration 6083h 0 A1 15000
Acceleration_
factor
Imm
Quick_stop_deceleration 6085h 0 A2 50000
Acceleration_
factor
Imm
Motion_profile_type N/U 6086h 0 0