JVL MAC050 - Page 254

250 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
5.7 Expansion Module MAC00-FD4
5.7.4 IO-messages.
The JVL MAC00-FD module offers 8 byte I/O.
These bytes are organized in a standard frame specified by the ODVA organisation.
Depending on what kind of information that is needed different message types are used.
Message types are organized in the lower bit 0-4 in byte 2 and the different message
types supported are:
0x1: "Target position"
0x2: "Target velocity"
0x3: "Acceleration"
0x5: "Torque"
0x1B: "Position controller attribute"
0x1F: "Parameter" (register)
For setting a target position the Command Message type 0x1 is used. Accessing registers
directly in the motor message type 0x1F is used. For a general motor register overview
please consult
MacTalk communication, page 402.
The outputs define a Command message covering the message types 0x1, 0x2, 0x3, 0x5
with the following format:
Corresponding response frame from the motor is formatted in the following way.
The message frame for the types 0x1, 0x2, 0x3, 0x5.
Byte 7 6 5 4 3 2 1 0
0
Enable - Hard stop
Smooth
stop
Direction
(vel. mode)
- -
Load
Data
1
0x1
2
0x1 Command message type
3
0x1 Response message type
4
Data value byte 0
5
Data Value byte 1
6
Data Value byte 2
7
Data Value byte 3
Byte 7 6 5 4 3 2 1 0
0
Enable - Hard Stop
Smooth
Stop
Direction
(V. Mode)
- -
Load
data
1
0x1
2
Load
Complete
- - - -
Reverse
limit
Forward
limit
-
3
0x1 Response Message Type
4
Data value byte 0
5
Data Value byte 1
6
Data Value byte 2
7
Data Value byte 3