JVL MAC050 - Page 276

272 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
5.8 Expansion Module MAC00-FP2/FP4
Command
Bit 7 (Write toggle) is used for writing data to the selected register (Write reg-
ister selector). When this bit is toggled, writing is executed. The write
command is accepted when Bit 7 in the command status (output data byte
7) is equal to this bit.
Bit 6 (Read toggle) is used for reading data from the selected register (Read reg-
ister selector). When this bit is toggled, reading is executed. The read
command is accepted when Bit 6 in the command status (output data byte
7) is equal to this bit.
Bit 5 (Write 32 bit) Set this to 1 if writing to a 32 bit register and 0 if writing to
a 16 bit register.
Bit 4 (Read 32 bit) Set this to 1 if reading from a 32 bit register and 0 if reading
from a 16 bit register.
Bit 3 (Auto write) When this bit is 1, the data written in write data 0-3, is trans-
ferred to the MAC motor immediately, regardless of the write toggle bit.
Bit 2 (Auto read) When this bit is 1, the data in read data 0-3 is updated all the
time, regardless of the read toggle bit.
Bit 1 and Bit 0 should be 0.
Input setup
Bit 6 (Reset end-limit) When this bit is 1, the end limit condition is reset, if no
end limits are activated.
Bit 5 (PL Enable) When this bit is 1, the positive end-limit is enabled.
Bit 4 (NL Enable) When this bit is 1, the negative end-limit is enabled.
Bit 3-0 (Input mode) these bits select the current input mode. See section Input
modes, page 275 for details.
Bit 7 6 5 4 3 2 1 0
Function
Write
Toggle
Read
Toggle
Write
32 bit
Read
32 bit
Auto
write
Auto
read
Reserved Reserved
Bit 7 6 5 4 3 2 1 0
Function - Reset end limit PL Enable NL Enable Input mode