JVL MAC050 - Page 256

252 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
5.7 Expansion Module MAC00-FD4
The response frame from the motor is formatted as follows.
Semantics:
Load complete: Indicates that the motor has read the frame.
Reverse limit: By using limit switches to limit the travel distance of the motor this bit
indicates that the motor encountered the reverse limit switch at the in
-
put.
Forward limit: By using limit switches to limit the travel distance of the motor this bit
indicates that the motor encountered the forward limit switch at the
input.
5.7.5 Object class 0x64.
Each instance has 2 attributes.
With this class all parameters in the motor can be written and read.
The instance number refers to the parameter number in the motor.
Attribute 1 = Value
Attribute 2 = Parameter size in bytes
Byte 7 6 5 4 3 2 1 0
0
Enable - - -
General
fault
On Target
position
-
Profile in
progress
1
Register number to get
2
Load
Complete
- - - -
Reverse
limit
Forward
limit
-
3
0x1 0x1F
4
Data value byte 0
5
Data Value byte 1
6
Data Value byte 2
7
Data Value byte 3