JVL MAC050 - Page 259

JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500 255
5.7 Expansion Module MAC00-FD4
5.7.12 Instance 2, Attribute 3, Motor status
With this object, the status of the motor can be monitored.
Bit 7: Unused - reserved for future purposes.
Bit 6: Equals 1, if the velocity is decreasing.
Bit 5: Equals 1, if the velocity is increasing.
Bit 4: Equals 1, if the motor is in the commanded position.
Bit 3: Unused - reserved for future purposes.
Bit 2: Equals 1, if a limit switch has been activated.
Bit 1: Equals 1, if there is a communication error between the MAC00-FDx and the
motor. This can occur if the motor was reset due to a voltage drop.
Bit 0: Equals 1, if there is a fatal motor error. Read subindex 4 for extended informa-
tion.
5.7.13 Instance 3, Attribute 3, Module setup bits
This object is used for auxiliary setup of the module.
Endless relative: When this bit is 1, the endless relative position mode is used for incre-
mental positioning. When using this mode, absolute positioning can no longer be used.
Error action: Determines the action in the event of an error. Bit6 set to 0 will set the mo-
tor in passive mode in case of an error, Bit6 set to 1 will stop motor by setting velocity
to 0 in the event of an error.
5.7.14 Instance 3, Attribute 4, FastMac command
When writing to this attribute, a FastMac command is executed. Please refer to the
MAC00-FPx section for a description of the FastMac commands.
5.7.15 Instance 3, Attribute 5, Module command
When writing to this attribute, it is possible to execute some special commands on the
MAC00-FDx module.
The following commands are available:
Bit 7 6 5 4 3 2 1 0
Data -
Decele-
ration
Accele-
ration
In
position
-
Limit
switch
error
Discon-
nected
Motor
error
Bit 7 6 5 4 3 2 1 0
Setup
Endless
relative
Error
action
Reserved
Number Function
0 No operation
1 Reset limit error
2 Reset communication error
3-255 Reserved