JVL MAC050 - Page 411

JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500 407
6.12 Registers
6.12.2 MAC50 to 141 register list.
The following list is only valid for the MAC50, MAC95, MAC140 and MAC141 motors
including sub-version.
Only MAC50 - 141
Reg.
Nr.
Firmware / MacRegIo
Name
MacTalk
Name
Range /
Default
Size /
Access
Unit Description
0 N/A N/A N/A N/A
N/A
Dummy register, do not use
1
PROG_VERS
ION Displayed on
bottom right
status line.
Firmware version number.
2 MODE_REG Startup mode /
Change
actual mode
The actual operating mode of the drive.
In general, the motor will either be passive,
attempt to reach a certain position, attempt to
maintain a constant velocity or attempt to
produce a constant torque. The various modes
define the main type of operation as well as
what determines the setpoint for that operation.
The special cases 256..258 are used to perform
a few special operations on the entire set of
registers.
Supported values are:
0 :
Passive mode . The axis is not controlled
by the drive, and can easily be moved by
hand or external mechanics.
1 :
Velocity mode . The drive will attempt to
run the motor at a constant velocity
selected by Reg5, V_SOLL, without
violating the maximum torque or
acceleration.
2 :
Position mode . The drive will at all times
attempt to move the actual motor position
to the position selected by Reg3, P_SOLL,
without violating the maximum velocity,
torque or acceleration.
3 :
Gear Position mode.
4 :
Analogue torque mode.
5 :
Analogue velocity mode.
6 :
Analog Velocity Gear mode.
7 :
Manual current mode.
8 :
Step response test mode.
9 : Internal test mode.
10 :
Brake mode.
11 :
Stop mode.
12 :
Torque based zero search mode.
13 :
Forward/only zero search mode.
14 :
Forward+backward zero search mode.
15 :
Safe mode.
16 :
Analogue velocity with deadband mode.
17 :
Velocity limited Analog Torque mode.
18 :
Analogue gear mode.
19 :
Coil mode.
20 :
Analogue bi-position mode.
21 :
Analogue to position mode.
22 :
Internal test mode.
23 :
Internal test mode.
24 :
Gear follow mode.
25 :
IHOME mode.
256
257
258
3 P_SOLL, 32-bit Position -67M -
+67M
32 bit
R / W
The target position that the drive will attempt
reach in position related modes.
4 (high word of
P-SOLL)
- - -