JVL MAC050 - Page 427

JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500 423
6.12 Registers
Only MAC400 to 4500
T1505-02GB
Reg.
Nr.
Firmware /
MacRegIo
Name
MacTalk
Name
Unit Description
36 CNTRL_BITS
(not
present)
Na /
32
Word /
RW
- (Continued)
Bit 9, INDEX_HOME
Bit10, FWTRIGBITS
When set, use the advanced sampling with firmware trigger
conditions - when 0, use backwards compatible sampling
Bit 11, SAMPLING_BIT
Set when sampling is active after trigger has been detected
Bit 12, TRIGGER_ARMED_BIT
Set when sampling is active but trigger has not been detected yet
Bit 13, ADVSAMPLE_BIT
If set, enables div-shift, min/max/avg + bitfield sampling.
Bit 14, COMMSAMPLE_BIT
If set, enables logging of reads and writes to/from registers over the
main Modbus channel normally used between motor and MAC00-xx
modules.
Bit 15,SAMPLE_STARTED
Set by firmware when the trigger condition in the advanced
scope/sampling system gets satisfied.
Bit 16, UART0SAMPLE_BIT
If set, enables logging of reads and writes to/from registers over the
Modbus channel normally used for the MacTalk protocol, but which
can also be configured for a second Modbus channel in firmwave
v2-09 and later.
37 START_MODE
(not
present
but is
preset as
function
of the
mode
register)
Na /
0
Word /
RW
- Determines in what mode the motor should start after power on and
after a Zero Search.
This register works closely together with Reg2, MODE_REG.
Bits [31:16] are reserved.
Bits [15:8] are used to select the type of zero search to perform
when the FastMac command (16 + 96) is received. This should be
one of 12, 13, 14, or zero.
Bits [7:0] select the value to transfer to Reg2, MODE_REG at motor
power up and after a zero search has completed.
If bits [15:8] are non-zero the motor will remain in Passive mode at
power up regardless of the value in bits [7:0]. The intention is then
to wait for a FastMac command 16 + 96. It is also possible to simply
write a new value to Reg2, MODE_REG to change mode.
38 P_HOME Zero
search
position
Na /
-10000
Word /
RW
Encoder
counts
The offset value to use to adjust P_IST at the end of a Zero Search.
P_IST will be set to this value( instead of zero) after a zero search.