JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500 277
5.8 Expansion Module MAC00-FP2/FP4
5.8.8 FastMac commands
Using the FastMac commands, it is possible to activate a set of registers and set the mode
of the motor using a single command. The command is composed of two parts. The first
part is the mode that the motor will use.
The following 4 modes can be selected:
The second part of the command is a register number or sub-command number.
The following table shows the register numbers:
The following table shows the sub-commands:
Value Motor mode after command Format
0 Passive Command = 0 + Register N
32 Velocity Command = 32 + Register N
64 Position Command = 64 + Register N
96 <No change> Command = 96 + Sub-command N
N Register N Register N Register N Register
0 P1 8 V1 16 A1 24 L1
1 P2 9 V2 17 A2 25 L2
2 P3 10 V3 18 A3 26 L3
3 P4 11 V4 19 A4 27 L4
4 P5 12 V5 20 T1 28 Z1
5 P6 13 V6 21 T2 29 Z2
6 P7 14 V7 22 T3 30 Z3
7 P8 15 V8 23 T4 31 Z4
N Command N Command
0 No operation 16 Start search zero
1 Reset error 17 No operation
2 P_SOLL = 0 18 No operation
3 P_IST = 0 19 Reserved
4 P_FNC = 0 20 Select absolute position mode
5 V_SOLL = 0 21 Select relative position mode using P_SOLL
6 T_SOLL = 0 22 Select relative position mode using P_FNC
7 Reset IN_POS, ACC,DEC 23 No operation
8 P_FNC = (FLWERR - P7) * 16 24 No operation
9 P_FNC = (FLWERR - P8) * 16 25 No operation
10 Reserved 26 No operation
11 Reserved 27 No operation
12 Activate P1,V1,A1,T1,L1,Z1 28 No operation
13 Activate P2,V2,A2,T2,L2,Z2 29 No operation
14 Activate P3,V3,A3,T3,L3,Z3 30 Reserved
15 Activate P4,V4,A4,T4,L4,Z4 31 Reserved
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