JVL MAC050 - Page 415

JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500 411
6.12 Registers
Only MAC50 - 141
TT1524GB
Reg.
Nr.
Firmware /
MacRegIo Name
MacTalk
Name
Range /
Default
Size /
Access
Unit Description
36 CNTRL_BITS Bit 0, USRINTF0
Bit 1, USRINTF1
Bit 2, PULSEDIR
Bit 3, INPSIGN
Bit 4, HICLK
Bit 5, HALL_INT
Bit 6, RECORDBIT
Bit 7, REWINDBIT
Bit 8, RECINNERBIT
Bit 9, AUTO_RESYNC
Bit 10, MAN_RESYNC
Bit 11, INDEX_HOME
Bit 12, REL_RESYNC
Bit 13, HALL_C
Bit 14, HALL_B
Bit 15, HALL_A
37
STARTMODE
38 P_HOME, 32-bit
39 (hi-word of P_HOME)
40 V_HOME Velocity used during Zero Search/Homing
41 T_HOME Negative => home on falling edge of AN_INP
42 HOMEMODE Used by FastMac commands
43
P_REG_P
44
V_REG_P
45
A_REG_P
46
T_REG_P
47
L_REG_P
48
Z_REG_P
49 POS0 / P1, 32-bit
50 (hi-word of P1)
51 POS1 / P2, 32-bit
52 (hi-word of P2)
53 POS2 / P3, 32-bit
54 (hi-word of P3)
55 POS3 / P4, 32-bit
56 (hi-word of P4)
57 POS4 / P5, 32-bit
58 (hi-word of P5)
59
POS5 /
P6, 32-bit Bit 0, COIL_START_DIR
Bit 1, COIL_POS_CMD
Bit 2, COIL_PWR_CMD
Bit 3, COIL_POS_ACCEPT
Bit 4, COIL_PWR_FLASH
60 (hi-word of P6)
61 POS6 / P7, 32-bit
62 (hi-word of P7)
63 POS7 / P8, 32-bit
64 (hi-word of P8)
65 V
EL0 / V1
66
VEL1 / V2
67
VEL2 / V3
68
VEL3 / V4
69
VEL4 / V5
70
VEL5 / V6
71
VEL6 / V7
72
VEL7 / V8
73
ACC0 / A1
74
ACC1 / A2
75
ACC2 / A3
76
ACC3 / A4
77
TQ0 / T1
78
TQ1 / T2
79
TQ2 / T3
80
TQ3 / T4