JVL MAC050 - Page 432

428 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
6.12 Registers
Only MAC400 to 4500
T1510-02GB
Reg.
Nr.
Firmware/
MacRegIo
Name
MacTalk
Name
Range/
Default
Size /
Access
Unit
Description
73 ACC0
(not present)
Na /
18
(5003RPM/s²)
Word /
RW
Enc.cnt's
Per
sample²
Can be activated with some FastMac commands to be copied to the A_SOLL
register. Can also be used for general-purpose or with the HWIxx registers.
74 ACC1
(not present)
Na /
18
(5003RPM/s²)
Word /
RW
Enc.cnt's
Per
sample²
Same use as the ACC0 register.
75 ACC2
(not present)
Na /
18
(5003RPM/s²)
Word /
RW
Enc.cnt's
Per
sample²
Same use as the ACC0 register.
76 ACC3
(not present)
Na /
18
(5003RPM/s²)
Word /
RW
Enc.cnt's
Per
sample²
Same use as the ACC0 register.
77 TQ0 Torque 1
(T1)
Na /
1023
(300%)
Word /
RW
Torque register T1. Used with the fastmac protocol or
by the MAC00-R1/3/4 nanoPLC module. See also
T_SOLL (register 7). Can also be used for general-purpose or with the HWIxx
registers.
78 TQ1 Torque 2
(T2)
Na /
1023
(300%)
Word /
RW
- Torque register T2 - see also register 77.
79 TQ2 Torque 3
(T3)
Na /
1023
(300%)
Word /
RW
- Torque register T3 - see also register 77.
80 TQ3 Torque 4
(T4)
Na /
1023
(300%)
Word /
RW
- Torque register T4 - see also register 77.
81 LOAD0 Load 1
(L1)
Na /
0
Word /
RW
- Can be activated with some FastMac commands. Can also be used for general-
purpose or with the HWIxx registers.
82 LOAD1 Load 2
(L2)
Na /
0
Word /
RW
- Same use as the LOAD0 register.
83 LOAD2 Load 3
(L3)
Na /
0
Word /
RW
- Same use as the LOAD0 register.
84 LOAD3 Load 4
(L4)
Na /
0
Word /
RW
- Same use as the LOAD0 register.
85 ZERO0
(not present)
Na /
0
Word /
RW
- Can be activated with some FastMac commands. Can also be used for general-
purpose or with the HWIxx registers.
86 ZERO1
(not present)
Na /
0
Word /
RW
- Same use as the ZERO0 register.
87 ZERO2
(not present)
Na /
0
Word /
RW
- Same use as the ZERO0 register.
88 ZERO3
(not present)
Na /
0
Word /
RW
- Same use as the ZERO0 register.
89 MODE0
(not present)
Na /
0
Word /
RW
- Can be used with the HWI functions to change mode depending n a hardware
input signal or a logical comparison.
90 MODE1
(not present)
Na /
0
Word /
RW
- Same use as the MODE0 register.
91 MODE2
(not present)
Na /
0
Word /
RW
- Same use as the MODE0 register.
92 MODE3
(not present)
Na /
0
Word /
RW
- Same use as the MODE0 register.
93 HWI0
(not present)
Na /
0
Word /
RW
- HW I ard are nputs Regs 93-104, HWI0-11, allow the digital inputs from Reg106 to
control the values of other motor registers.
The most common use is to copy one of two values to a target register. This can
be used to switch between two velocities, positions or modes. For instance to
switch between two target positions, set Reg49, POS0 to 1000 and Reg51,
POS1 to 2000 and set the motor into position mode. Then P_SOLL can be set
to receive either the value 1000 or 2000 depending on the voltage on the digital
input (the Input State)
The copying is executed every 1.0 or 1.3 ms. The digital inputs can thus be
considered level-triggered rather than edge-triggered.
(Contrinued next page)