274 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
5.8 Expansion Module MAC00-FP2/FP4
5.8.5 Input data (Slave->Master)
The MAC00-FP2/4 contains 8 bytes of input data.
Read Data
For 16 bit registers, the read value will be placed in Read data 0 and Read data 1.
For 32 bit registers, the read value will be placed in Read data 0-3.
Motor status
Bit 6 (Decelerating) this bit is 1 when the motor is decelerating.
Bit 5 (Accelerating) this bit is 1 when the motor is accelerating.
Bit 4 (In position) this bit is 1 when the motor has reached its commanded position.
Bit 0 (Error) this bit is 1 when a motor error has occurred.
Input status
Bit 5 (PL) Positive limit input.
Bit 4 (NL) Negative limit input.
Bit 3-0 (INx) user inputs.
Last direct register
See page 271 for details.
Address Name Description
0 Read data 3 (MSB) Data read from register
1 Read data 2 --- “---
2 Read data 1 --- “---
3 Read data 0 --- “---
4 Motor status Status bits for the motor
5 Input status Status of inputs
6 Last direct register Last accepted direct FlexMac command
7 Command Status Status bits for commands
Bit 7 6 5 4 3 2 1 0
Function - Decelerating Accelerating In position - - - Error
Bit 7 6 5 4 3 2 1 0
Function - - PL NL IN4 IN3 IN2 IN1
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