JVL MAC050 - Page 219

JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500 215
5.6 Expansion Mod. MAC00-FC2/FC4/FC41
Name Desc.
COB
ID
(hex)
Sub-
index
Motor
register
Initial
Value
Scalefactor
to motor
Update/
write
Veloctity_encoder_factor_
number_of_entries
RO 6094h 0 2
See formula in
section 5.6.47
Velocity_encoder_factor_
Numerator
6094h 1 4096 or 8000
CF_Upd,
>Velocity_factor
Velocity_encoder_factor_
Divisor
RPM 6094h
2 60
CF_Upd,
>Velocity_factor
Acceleration_factor_number_
of_entries
RO 6097h 0 2
See formula in
Factors, page
216
Acceleration_factor_
Numerator
6097h 1 4096 or 8000
CF_Upd.>
Acceleration_
factor
Acceleration_factor_Divisor RPM 6097h 2 60
CF_Upd Accele-
ration_factor
Polarity
Bit7:
InvPos.
Bit6:
InvVel.
607Eh 0
CF_Upd,
>Position_factor
>Velocity_factor
SampleFreq
520.833 or
770
Not CF_Upd,
>Velocity_factor
>Acceleration_
factor
Homing_Torque 2100h 0 T_HOME
500 in V2.0,
30 in V2.1
1.023
At start of
homing
Module Parameters:
Inputs status 2011h 1
Outputs 2011h 2 0
Motor status 2011h 3
Last motor status 2011h 4 0
Output setup 2011h 5 0
Input active level 2011h 6 0x3F
Input setup 2011h 7 0
Setup bits 2011h 8
Data (256 motor registers) 2012h x
Fastcommand (Send FastMac
command)
2013h 0