256 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
5.7 Expansion Module MAC00-FD4
5.7.16 Object class 0xF (Parameter)
This object class is the parameter class defined by the DeviceNet standard.
The attributes that are mapped into this object are from object class 0x64 and 0x65.
Instance 0-239 is mapped to the value attribute in object class 0x64 from the correspond-
ing instance.
Instance 240-255 is mapped to attributes from object class 0x65. Refer to the description
of this object class for the mappings.
5.7.17 Object class 0x24 (Position Controller Supervisor)
This object class is the Position controller supervisor object, as defined in the DeviceNet
standard.
The following class attributes are supported: 1,2,3,6,32,33.
The following attributes are supported for instance 1: 1,3,5,6,7.
5.7.18 Object class 0x25 (Position Controller)
This object class is the position controller object, as defined in the DeviceNet standard.
The following attributes are supported for instance 1:
1,2,3,6,7,8,10,11,12,13,14,17,20,21,25,45,48,49,52,54,55,58.
The range for attribute 25:Torque is 0-1023.
The following additional manufacturer-specific attributes are supported:
Attribute ID Access rule Data type Description
100 Get/Set USINT
Search mode. This mode will be used next time the con-
troller is enabled and the selected mode is position. This
value will be cleared after the enable.
101 Get/Set DINT
The Homing offset in counts
102 Get/Set DINT The velocity to use during Homing in encoder counts per
second.
103 Get/Set DINT
The torque limit to use during Homing. The range is -
1023 to 1023. A negative torque value means that the
zero sensor is active low.
104 Get/Set BOOL Use Index. If this is enabled, the zero point will be cor-
rected with reference to the motors index mark.
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