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JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors

5.2

Protocol specifications

5.2.4

Application layer communication

The application layer communication protocol in Ethernet POWERLINK is based on the

CANopen DS 301 communication profile. The protocol specifies the Object Dictionary

in the adapter module, in addition to communication objects for exchanging cyclic pro-

cess data and acyclic messages.

The MAC00-ELx module uses the following message types:

Process Data Object (PDO). The PDO is used for cyclic I/O communication, in other

words, process data.

Service Data Object (SDO). The SDO is used for much slower acyclic data transmis-

sion.

NMT response services. Used for identity and status signalling during start-up and

runtime.

Summary of Contents for MAC00-EC4

Page 1: ...VL Industri Elektronik A S Industrial Ethernet User Manual MAC00 EC4 EC41 MAC00 EI4 EI41 MAC00 EL4 EL41 MAC00 EP4 EP41 MAC00 EM4 EM41 MAC00 ES4 ES41 MIS and MILxxx G2 motors Setup and functionality only Some connector ID s may differ ...

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Page 3: ... manual without prior notice Similarly JVL Industri Elektronik A S assumes no liability for printing errors or other omissions or discrepancies in this user manual MacTalk and MotoWare are registered trademarks JVL Industri Elektronik A S Bregnerødvej 127 DK 3460 Birkerød Denmark Tlf 45 45 82 44 40 Fax 45 45 82 55 50 e mail jvl jvl dk Internet http www jvl dk The MAC and MIS series of products are...

Page 4: ...EtherCAT Is registered trademark and patented technology licensed by Beckhoff Au tomation GmbH Germany EtherNet IP Is a trademark of ODVA Open DeviceNet Vendor Association Inc Modbus TCP IP Is a registered trademark of Schneider Electric PROFINET IO Is a registered trademark of PROFIBUS International Karlsruhe SERCOS Is a registered trademark of SERCOS International e V Suessen Germany ...

Page 5: ... 4 5 Implementation guidelines 99 4 6 Configuration with explicit messages 102 4 7 Using and Selecting an Ethernet switch 105 4 8 Examples 106 4 9 ODVA Conformance Certificate 112 5 POWERLINK Users Guide 113 5 1 Introduction to POWERLINK 114 5 2 Protocol specifications 117 5 3 Commissioning 121 5 4 Ethernet POWERLINK objects 124 5 5 Network Management Services 129 5 6 XML Device Description File 1...

Page 6: ...MacTalk over Ethernet 239 10 1 Using MacTalk over Ethernet 240 10 2 Setting up the Ethernet at the PC 243 10 3 Setting up MacTalk for Ethernet 249 11 Examples common to all protocols 253 11 1 Using module I O in embedded RxP 254 12 Appendix 257 12 1 Technical Data 258 12 2 Motor registers MAC050 141 264 12 3 Motor registers MAC400 4500 273 12 4 Motor registers MISxxx 292 ...

Page 7: ...JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 7 1 Introduction ...

Page 8: ...c 2 individual ports on the module offers Daisy chaining possibility Standard M12 circular industrial connectors MAC motor module MAC00 Ex4 1 Digital input 24V and 1 digital output 24V for lo cal use around the motor MAC motor module MAC00 Ex41 4Digital input 24V and 2 digital outputs 24V for local use around the motor MIS MIL motor with Ethernet option offers 8 digital I O s Each I O terminal can...

Page 9: ...ektronik A S User Manual Ethernet expansion modules for MAC motors 9 MAC800 users important Please notice that only MAC800 motors with a serial number newer than 85000 is compatible with the Ethernet modules MAC00 Exx ...

Page 10: ...EP Profinet MAC00 EM Modbus TCP are setup at delivery with the relevant protocol and also the right LED marking The final user can setup it up for any of the available protocols just by using the gen eral MacTalk windows software The visible LED marking and type number is unique for each module type All modules when not delivered mounted in a MacMotor is followed by a little label sheet containing...

Page 11: ...ake sure that the checkbox is checked Select the desired firmware such as EtherNet IP Note that there may exist more than one version Choose the newest version Press S to download the selected firmware The status counter will now rise from 0 to 100 Show all files tart Step 4 When the download process is finished the status shows Also has changed to the actual downloaded version meaning that the fi...

Page 12: ...IS MIL motors The LED at the rear is universal Typenumber overview for MAC and MIS MIL MAC Type MIS Type Ethernet Protocol MAC00 EC4 EC41 MIS MILxxxxxxECxxxxx EtherCAT MAC00 EI4 EI41 MIS MILxxxxxxEIxxxxx EtherNET IP MAC00 EL4 EL41 MIS MILxxxxxxELxxxxx EtherNet POWERLINK MAC00 EM4 EM41 MIS MILxxxxxxEMxxxxx Modbus TCP MAC00 EP4 EP41 MIS MILxxxxxxEPxxxxx Profinet IO MAC00 ES4 ES41 MIS MILxxxxxxESxxxx...

Page 13: ... motor Select the tab for the Ethernet protocol in use and check the Module info frame For some protocols and some motors is also the minimum capable cycle time when using a drive profile CiA402 FSP Drive etc listed 1 3 2 Check motor version The hardware version of the motor can be found using MacTalk Move the mouse curser to the lower left corner and a pop up box will show with all the relevant i...

Page 14: ...14 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors ...

Page 15: ...JVL Industri Elektronik A S User Manual Ethernet for MAC and MIS motors 15 2 General Hardware description Only MAC ...

Page 16: ... EtherNet Interface M12 female connector TT3003GB MAC00 Ex4 expansion module Basic MAC motor MAC400 or 800 Power supply Internal power supply processor and encoder Multifunction I O1 setup as serial data Multifunction I O2 High speed sync 0 1 Optional I O use Internal COM Status outputs Asynchronous interface 5V AIN1 AIN2 Analogue inputs AIN1 Zero search input 10V nom or up to 32V 8 2 2 2 2 3 3 3 ...

Page 17: ...terface which means that all registers parame ters in the motor can be monitored or changed RS232 is not recommended for long distances 10m IN1 User input 1 Can be used as general input which can be read over the Ethernet interface MAC00 Ex41 offers in total 4 digital inputs IN1 IN2 IN3 and IN4 Only MAC Expansion module MAC00 Ex4 and Ex41 front plate Neutral module for all the Ethernet protocols L...

Page 18: ... the user in output O1 and IN1 2 RS422 RS485 Multifunction I O channels Only available at the MAC00 Ex41 Can be used for encoder input full duplex serial communication encoder output etc Please notice that no multifunction I O s are available if mounted in a MAC050 MAC141 PWR connector 24V supply for the internal control circuitry in the motor Only MAC ...

Page 19: ...AC50 to 141 up to 48VDC is al lowed See also the general power supply description in the MAC motor main manual LB0047 For further information concerning physical connections see the Expansion module MAC00 Ex4 basic version connector description page 22 Only MAC TT3011GB MAC400 Motor with MAC00 Ex4 MAC400 Motor with MAC00 Ex4 P P P P CVI CVI Power Supply Power Supply Control Volt Control Volt Mains...

Page 20: ...nted in a MAC050 MAC141 Only MAC TT3012 02GB MAC motor MAC00 Ex4 or MAC00 Ex41 MAC motor MAC00 Ex4 or MAC00 Ex41 MAC motor MAC00 Ex4 or MAC00 Ex41 Make sure that all involved units are connected to the same potential Make sure that all involved units are connected to the same potential Make sure that all involved units are connected to the same potential Analogue input connection at the MAC motor ...

Page 21: ... length should not exceed 10 metres Connectors To see the specific connector pin out please see the chapter Expansion module MAC00 Ex4 basic version connector description page 22 or Expansion module MAC00 Ex41 ex tended IO connector description page 24 A finished RS232 cable also exist Please see Cables for the MAC00 Ex4 basic version page 26 or Cables for the MAC00 Ex41 extended I O version page ...

Page 22: ...in supply ground Connect with pin 5 3 Blue 1 CVI Control supply nominal 12 48VDC DO NOT connect 50V to this terminal A small leakage current may exist on this pin if not used Connect this terminal to ground if not used 4 Black 1 P Main supply ground Connect with pin 3 5 Grey 1 Note P and P are each available at 2 terminals Make sure that both terminals are connected in order to split the supply cu...

Page 23: ...no JVL Cable WI1046 M12M4S05R Isolation group See note Tx0_P Ethernet Transmit channel 0 positive terminal 1 Brown White 3 Rx0_P Ethernet Receive channel 0 positive terminal 2 Blue White 3 Tx0_N Ethernet Transmit channel 0 negative terminal 3 Brown 3 Rx0_N Ethernet Receive channel 0 negative terminal 4 Blue 3 Shield Outside shield connected to connector housing Housing Shield 1 L A OUT Ethernet po...

Page 24: ... CVI Control supply nominal 12 48VDC DO NOT connect 50V to this terminal A small leakage current may exist on this pin if not used Connect this terminal to ground if not used 4 Black 1 P Main supply ground Connect with pin 3 5 Grey 1 Note P and P are each available at 2 terminals Make sure that both terminals are connected in order to split the supply current in 2 terminals and thereby avoid an ov...

Page 25: ...this terminal is normally isolated from the main ground and belongs to isolation group 2 16 Yellow brown 2 RS232 TX RS232 interface Transmit terminal Leave open if unused 17 White grey 1 L A IN Ethernet port connector M12 4pin female connector D coded Signal name Description Pin no JVL Cable WI1046 M12M4S05R Isolation group See note Tx0_P Ethernet Transmit channel 0 positive terminal 1 Brown White...

Page 26: ... 5 8 X Cable with M12 male 8 pin connector loose wire ends 0 22mm 24AWG and screen Length 5m 197 inch WI1000 M12M8T05N X Same as above but 20m 787 inch WI1000 M12M8T20N X Cable Ø5 5mm with M12 female 5 pin connector loose wire ends 0 35mm 22AWG and foil screen Length 5m 197 inch WI1000 M12F5T05N X Same as above but 20m 787 inch WI1000 M12F5T20N X X Ethernet cable with M12 male 4pin D coded straigh...

Page 27: ...09 M12M17T20N X Cable Ø5 5mm with M12 female 5 pin connector loose wire ends 0 35mm 22AWG and foil screen Length 5m 197 inch WI1000 M12F5T05N X Same as above but 20m 787 inch WI1000 M12F5T20N X X Ethernet cable with M12 male 4pin D coded straight connector and RJ45 connector fits into std Ethernetport WI1046 M12M4S05NRJ45 X X Ethernet cable with M12 male 4pin D coded straight connector loose ends ...

Page 28: ...1046 M12M4S05NRJ45 M12 shl cable 4 pin male 5m Ethernet D Coded RJ45 Date 8 7 13 JVL Industri Elektronik A S Blokken 42 DK 3460 Birkerød Tel 45 4582 4440 Fax 45 4582 5550 Version 1 2 Approved by BVJ Drawn by PCR BVJ LT0179 12 J1 Pin no J1 Length 5 m Text printed on green tube Cable data Twisted with screen SFTP 24AWGx2 AEB Orange Brown Rx Orange White Brown White Tx Tx 2 3 Color Type 2 Alt Color T...

Page 29: ...ords use EITHER the BYPASS OR the COM connector Not both Only MAC RS232 M12 1 5 8 Interface cable M12 to DSUB Date 27 9 06 JVL Industri Elektronik A S Blokken 42 DK 3460 Birkerød Tel 45 4582 4440 Fax 45 4582 5550 Version 1 1 Approved by BVJ 1 1 Drawn by JVJ LT0082 11 J1 Cable J1 Pin no DSUB Connector Female 9pin 1 Brown Green 3 2 5 Housing White Blue Red Pink Yellow Grey J1 J2 The wires White Grey...

Page 30: ... Body Pin no Pin 1 Pin 2 Pin 3 Pin 4 Pin 5 Pin 6 Pin 7 Pin 8 Body Funct IN1 IN2 IN3 IO O2 O1 GND O GND Funct IN4 AIN1 AIN2 IO O2 O1 GND O GND Func IN4 TX RX GND RX TX AIN1 AIN2 GND Color White Brown Green Yellow Grey Pink Blue Red Color White Brown Green Yellow Grey Pink Blue Red Notes COM Colors shown are based on the JVL standard cables type connection 8 Pin Male cable BYPASS IO1 IO2 connect 17 ...

Page 31: ...JVL Industri Elektronik A S User Manual Ethernet for MAC and MIS motors 31 2 4 Cable accessories Diagram of the internal details in the PA0190 Junction Box Only MAC TT3090 01GB ...

Page 32: ...32 JVL Industri Elektronik A S User Manual Ethernet for MAC and MIS motors ...

Page 33: ...JVL Industri Elektronik A S User Manual Ethernet for MAC and MIS motors 33 3 EtherCAT Users Guide ...

Page 34: ...last slave device in the bus segment sends the processed frame back so that it is re turned by the first slave to the master as a kind of response frame There are several protocols that can be used as the application layer In the CANopen over EtherCAT CoE technology the CANopen protocol is applied to EtherCAT CANopen defines Service Data Objects SDO Process Data Objects PDO and the Object Dictiona...

Page 35: ...buted Clock EMCY Emergency Object EoE Ethernet over EtherCAT ESI EtherCAT Slave Information ESC EtherCAT Slave Controller ETG EtherCAT Technology Group EtherCAT Ethernet Control Automation Technologie IP Internet Protocol IP address the logical address of the device which is user configurable not used in EtherCAT MAC Media Access Controller MAC address the hardware address of the device not used i...

Page 36: ...T tele grams each addressing individual devices and or memory areas The telegrams can be transported either directly in the data area of the Ethernet frame or within the data sec tion of a UDP datagram transported via IP The EtherCAT frame structure is pictured in the following figure Each EtherCAT telegram consists of an EtherCAT header the data area and a working counter WKC which is incremented...

Page 37: ... can be accessed by SDOs After the mas ter has configured the slave it can switch the module to the Safe Operational state In this state input I O data PDOs is sent from the adapter module to the EtherCAT mas ter but there is no output I O data from the master to the module To communicate out put I O data the master must switch the adapter module to the Operational state State description table St...

Page 38: ...main across the network MAC00 ECx supports this when mounted in a MAC400 and the MIS MIL also supports this feature When the MAC00 ECx is mounted in a MAC050 MAC141 DC is NOT supported When the distributed clock protocol is being used one clock on the network is selected as the master clock and all other devices are synchronized to it The master controller of the network determines which clock wil...

Page 39: ...p with an update rate of 1kHz 1ms alternatively 1 3 or 2 6mS when used with the MAC00 ECx For the synchronization to work it is needed that the Sync0 period used is an integer multiple of the 1ms position loop update rate The JVL EtherCAT implementation sup ports 1 and 2 ms sync0 pulse The MIS MIL motor do not have any internal position loop but nevertheless synchronizes its internal position upda...

Page 40: ...R Red No error Critical com munication or controller error General configura tion error Local error Process data watchdog timeout EtherCAT watchdog timeout Booting error PWR PWR Green Power is not applied Power is ap plied to both motor and module Power is applied to module but no communi cation with motor Notes Blinking Flashing with equal on and off periods of 200ms 2 5Hz Single flash Repeating ...

Page 41: ...aster PC 2 Apply power and make sure the PWR power LED is lit 3 Connect the Ethernet cable from Master to the L A IN connector at the MAC mod ule or CN2 at the MIS MILxxxxxxECxx motor Check that the corresponding LED is lit 4 Start TwinCAT system manager on the master and make sure that a proper Ether net I O device is appended consult your TwinCAT manual 5 Right click the I O device and select sc...

Page 42: ...the left side of the win dow 8 The L A IN LED at the MAC module or L2 at the MIS MILxxxxxxECxx motor should now be flashing and the process data should now appear on the bottom right side of the TwinCAT window 9 By pressing the CoE online tab it s possibly to inspect the CANopen objects and modify motor and module parameters 10 If DSP402 drive profile is selected the JVL device is named Drive inst...

Page 43: ...ed to use UTP cables in industrial environments which is typically very noisy 3 3 4 Synchronization configuration The MAC00 ECx and the MIS MIL motors supports two different synchronization modes for their process data sync managers These modes are Free run No synchronization Requires motor cycle to be 1 0 or 1 3ms Synchron with Sync0 Event Use Distributed Clock and synchronize to Sync0 Selection ...

Page 44: ...ata will be received before the Sync0 signal The slaves will not use the process data received until the Sync0 time so system can remain well synchronized even with a significant amount of timing jitter in the master For example in a system with a cycle time of 1ms and 100 microseconds of timing jitter on the master the master could be configured to transmit its process data with a 300 microsecond...

Page 45: ...has to be calculated as follows Register number 65536 x sub index Example module command sub index 15 65536 x 15 register 983040 When module registers register numbers above 65535 are chosen they have to be placed after the motor registers in the list of cyclic registers NB If an index is set to zero No selection then the following indexes is discarded Thereby computing resources in the drive are ...

Page 46: ...lear of errors reset of motor etc please insert the module command register 983040 in Mactalk in the cyclic write list and send commands this way For a list of commands for the module command register please refer to Register Overview page 226 Object index Register no Motor register short Motor register description 0 2 MODE_REG Operating mode 1 3 P_SOLL Target position 2 5 V_SOLL Maximum velocity ...

Page 47: ...bled Register 6 Setup bits page 228 If operating with values lower than those listed data loss will occur The minimum cycle times is only valid if not sending any acyclic requests while in any operating mode MODULE registers can be appended as the last registers in the list at no extra timing cost Motor register 35 shall be in the cyclic read list as it is also used internally No of motor register...

Page 48: ...eak error motor over current X 0x2222 PWM_LOCKED PWM locked X 0x2280 IX_ERR Phase error X 0x3120 UV_ERR Low AC voltage X 0x3210 OV_ERR Overvoltage on bus X X 0x3220 UV_ERR Undervoltage on bus X X 0x4210 DEGC_ERR Temperature too high X X 0x5112 U24V Control voltage unstable X 0x5380 INIT_ERR Self diagnostics failed X X 0x5381 STO_ALARM_ERR Safe torque off alarm X X 0x5382 FPGA ERROR Error in access...

Page 49: ...bit index and possibly a sub index There are some mandatory objects and some manufacturer specific objects The objects in the CoE Object Dictionary can be accessed with SDO services CANopen Error code Firmware name Short description Applicable to motortype MAC050 MAC141 MAC400 MAC4500 MISxxx MILxxx 0x8680 PLIM_ERR Position limit exceeded X X X 0x8681 NL_ERROR Neg limit switch exceeded X X X 0x8682...

Page 50: ...c Manufacturer device name 1008 VISIBLE STRING X JVL MAC00 ECx Manufacturer hardware version 1009 VISIBLE STRING X 1 0 Manufacturer software version 100A VISIBLE STRING X 1 0 Example Version x x Identity object 1018 IDENTITY X Contain general information about the module 0 1 4 X 4h Number of entries Mandatory 1 UNSIGNED32 X 0x0117 Vendor ID contains a unique val ue allocated to each manufactor 117...

Page 51: ...e The parameters can be saved permanently by applying a Save parameters to flash command afterwards Index hex Sub Index Type Read only Default Description Module com mand 2010 0 UNSIGNED32 Module command object See possible com mands below Module parameters 2011 0 UNSIGNED8 X 63 Subindex count 1 UNSIGNED32 X Access to module register N Motor parameters 2012 0 UNSIGNED8 X 254 Subindex count N UNSIG...

Page 52: ...x Registers relevant for the MAC050 to 141 motors Motor registers MAC050 141 page 264 Registers relevant for the MAC400 to 4500 motors Motor registers MAC400 4500 page 273 Registers relevant for the MIS MILxxx motors Motor registers MISxxx page 292 3 4 11 Object 0x2013 only applicable to MAC400 4500 Object 0x2013 are for acyclic view or change of motor registers above 255 To access a motor registe...

Page 53: ...also How to find FW HW version at product page 13 The start mode of the motor must be set to passive No power up Zero searches must be selected If absolute movement is used the resynchronize after passive mode must be set The DSP 402 drive profile must be enabled and saved to flash please see next para graph When using DSP 402 mode manipulating motor parameters with object 0x2012 can corrupt the b...

Page 54: ...rameters start up in the module with default values A few of them are set depending on the motor type the module is mounted in either the MAC50 141 MAC400 or the MIS MILxxxxxxECxx motor None of the parameters can be saved to flash in the module The following table shows the additional object dictionary defined for DSP 402 support Continued next page ...

Page 55: ... 71000 MAC400 439000 MIS MIL 8000000 MAC050 141 9 Delay time U32 RO 450000 MAC400 2000000 MIS MIL 2000000 MAC050 141 12 Cycle time too small U16 RO 32 Sync error Bool ean RO 0x1C33 0 Synchronized output U8 RO 1 Synchronization type U16 RW 0x1C32 04 2 Cycle time U32 RW 0x1C32 04 4 Synchronization types supported U16 RO 0x1C32 04 5 Minimum cycle time U32 RO 0x1C32 04 6 Calc and copy time U32 RO 2000...

Page 56: ...it mask U32 RW P 0x03 MAC00 ECx 0xFF MIS MILxxx Device control 10F3 0 Diagnosis History U8 RO See ETG1020 for comprehensive description 1 Maximum messages U8 RO 2 Newest message U8 RO 3 Newest acknowledged mess U8 RW Only values 6 37 are accepted 4 New message available U8 RO 5 Flags U16 RW Only bit 1 and 2 are writable 6 37 Diagnosis message STR RO 603F 0 Error code U16 RO P 6040 0 Control word S...

Page 57: ... I32 RO P Velocity parameters 606B 0 Velocity demand value I32 RO P 606C 0 Velocity actual value I32 RO P 606D 0 Velocity window U16 RW 100 606E 0 Velocity window time U16 RW 6 60FF 0 Target velocity U32 RW P Torque parameters 6071 0 Target Torque I16 RW P 6077 0 Torque actual value I16 RO P Homing mode 2100 0 Homing torque U16 RW 30 607C 0 Home offset I32 RW 0 6098 0 Homing method I8 RW 0 6099 0 ...

Page 58: ...Start homing PP New setpoint 5 Operation mode specific Yes PP Change set immediately 6 Operation mode specific 7 Fault reset Yes 8 Halt Yes 9 Operation mode specific 10 Reserved 11 15 Nanufacturer specific Bit Meaning Supported 0 Ready to switch on Yes 1 Switch on Yes 2 Operation enabled Yes 3 Fault Yes 4 Voltage enabled Yes 5 Quick stop Yes 6 Switch on disabled Yes 7 Warning Yes Only in MIS MILxx...

Page 59: ...Slow down on quick ramp and transit into Switch On Disabled Yes 3 Slow down on current limit and transit into Switch On Disabled No Same as 2 4 Slow down on voltage limit and transit into Switch On Disabled No Same as 2 5 Slow down on slow ramp and stay in quick stop active Yes 6 Slow down on quick stop ramp and stay in quick stop active Yes 7 Slow down on current limit and stay in quick stop acti...

Page 60: ...ing torque homing Object 0x2101 Analogue input 1 Only applicable to EtherCAT modules installed in servo motors MACxxx In this read only object it is possible to read the status of the motor analog input ANINP It is possible to map this object in the cyclic read PDO The range of this object is 1023 corresponding to 10V on the input pin This gives approximately 9 775mV unit Object 0x2103 Motor tempe...

Page 61: ...ow will open showing the possible objects to insert in the PDO By selecting an object and pressing OK then that object is inserted in the PDO and will be transferred to the MAC00 ECx module or the MIS MILxxxxxxECxx motor at next reload devices if the PDO configuration checkbox is checked For further information about PDO configuration please consult the appropriate manual for the PLC system used T...

Page 62: ...seen in the table above the MAC050 141 don t support Dis tributed Clock and have a minimum cycle time of 16ms when using DSP 402 For these reasons the Cyclic operation modes normally used by masters are NOT recommended 3 5 10 Factors Position factor The position factor is the relation between the user unit and the internal position unit counts The position factor is automatically calculated when t...

Page 63: ...rent movement modes This is done using bit 5 change set immediately in the status word When this bit is 0 and a move is in progress the new set point is accepted But the new set point and profile are not activated before the pre vious movement is finished When this bit is 1 the new set point is activated instantly and the motor will move to the new position with the new profile parameters Please n...

Page 64: ...ming on positive home switch and index pulse to the left X 4 Homing on positive home switch and index pulse to the right X 5 Homing on negative home switch and index pulse to the left X 6 Homing on negative home switch and index pulse to the right X 7 Start positive unless home switch is active reverse on home switch active stop at index X 8 Start positive unless home switch is active stop at firs...

Page 65: ...s mode is used when synchronization between several drives are needed in position mode The default PDO addresses this mode It is the preferred mode for the NC sys tem in TwinCAT When using CSP mode it is highly recommneded to use Distributed Clock in order not to loose any cyclic frames If wanting to enable this mode as startup mode in TwinCAT then follow the steps below WARNING The CSP mode is NO...

Page 66: ... 08 as the Data value as shown below Note Changes will only become effective after reconfiguring and restarting the Ether CAT master Please note The torque limit that is used during the mode can be set via object 6072h before hand The motor register L1 object 2012 subindex 81 is used to select the load factor when the mode is started If a different load factor is required this register must be set...

Page 67: ...he CSV mode is NOT recommended for MAC050 141 as these motors do not support Distributed Clock and have a minimum cycle time of 16ms when using DSP 402 Step 1 2 It is easiest to change the PDO in TwinCAT if the drive is connected to TwinCAT and is online Then first press the CoE online tab in the drive setup Please see below pic ture This way the available objects are fetched online from the drive...

Page 68: ...ual Ethernet for MAC and MIS motors 3 5 CiA DSP 402 drive profile Step 7 8 Then right click in the bottom of the PDO Content and select Insert as shown be low Step 9 10 Choose object 0x60FF from the list and press OK TT3098 01GB TT3099 01GB ...

Page 69: ...tween several drives are needed in torque mode When using CST mode it is highly recommneded to use Distributed Clock in or der not to loose any cyclic frames To use this mode the default PDO needs to be changed Please follow the steps 1 11 from above in Cyclic Synchron Velocity mode where the inserted object should be 0x6071 target torque instead of object 0x60FF And then follow the steps 1 4 from...

Page 70: ... in the EtherCAT master It is also possible to add a device specific shift time but then the sync0 pulse of the devices on the network will not be ac tivated simultaneously unless the same shift time is added to all devices Changing general shift time As written above changing this setting will affect all devices on the network So proceed with care Step 1 3 Select the EtherCAT device select the Et...

Page 71: ...lse on the specific device Be aware that if only changing this setting on some devices then the sync0 pulse will not appear simul taneously on all devices Step 1 3 Select the drive then select the EtherCAT tab and press the Advanced Settings but ton Step 4 6 Select Distributed Clocks change the Shift time User defined to the needed set ting and press the OK button TT3103 01GB TT3104 01GB ...

Page 72: ...uses an error if enabled In homing mode an activation does not cause an error but are used to change direction during search if using a homing mode supporting this The limit switches are disabled as defualt but can be enbled in the object 0x2011 subindex 11 please refer to paragraph 8 2 11 The setup can be saved to flash otherwise it has to be sent to the EtherCAT module after every power cycle in...

Page 73: ...d the motor to run with a constant speed of 1200 RPM So V_SOLL 1200 2 77 433 cnt smp 2 Set the needed acceleration A_SOLL A x 271 RPM s Ex We need the motor to accelerate with 100000 RPM s so A_SOLL 100000 271 369 cnt smp 3 Now set the motor into velocity mode and thereby activate the motor Ex The motor needs to be activated by setting it into velocity mode so we need to set the mode register to t...

Page 74: ...tuation the motor will stop and the cause will be present in the register 35 and hence in the I O data This register also holds information on the motion status such as In position bit 4 Accelerating bit 5 Decelerating bit 6 Please find a complete list of register descriptions in the appendix Motor registers MAC050 141 page 264 and Motor registers MAC400 4500 page 273 The JVL motor is basically pu...

Page 75: ... I O some preconditions have to be met Zero search position zero search velocity and zero search torque torque only for MAC motors has to be set in MacTalk in the Main tab and saved in flash in the motor once and for all Startup mode should be set to position for the motor to stay in position after the homing sequence And this setting should also be saved in flash TT3083GB TT3084GB ...

Page 76: ...o search mode only MAC motors 13 Forward only zero search mode 14 For ward backward zero search mode only MAC motors 25 Enc index only MAC400 26 Enc quick index only MAC400 For a comprehensive descrip tion of the homing modes refer to the general MAC motor manual LB0047 xxGB Observe that the Actual_Mode is changing to the homing mode Now the module is blocking cyclic writes TO the motor Cyclic rea...

Page 77: ...mand register register 983040 in MacTalk 4 Make sure one net cycle has passed so command is interpreted by the motor 5 Set module command register to zero This will prepare the Ethernet module for new commands 6 If needed then monitor register 35 Error status When bit 4 is set in position then the move is finished 7 When a new relative move is requested go to step 3 You may also have the P7 regist...

Page 78: ...78 JVL Industri Elektronik A S User Manual Ethernet for MAC and MIS motors ...

Page 79: ...JVL Industri Elektronik A S User Manual Ethernet for MAC and MIS motors 79 4 EthernetIP Users Guide ...

Page 80: ... motor can be setup and controlled in a very short time without first doing extensive studies in complex motion control stand ards e t c EtherNet IP is basically divided in 2 groups of data explicit and I O messages in other words messages requiring fast data response time and data not so time critical typically used for configuration purposes In the EtherNet IP terminology these messages are also...

Page 81: ... the hardware address of the de vice MacTalk A windows PC based program supplied from JVL This is an overall program to install adjust and monitor the function of the motor and a module installed in the motor TCP Transfer Control Protocol an IP based protocol used widely on the internet UDP User Datagram an IP based protocol used widely on the internet DHCP Dynamic Host Configuration Protocol Auto...

Page 82: ...ge router object class 0x02 Handles all messages to from object s in the device Assembly object class 0x04 Object that binds all IO data to a connection point TCP IP interface object class 0xF5 Holds all information on the Ethernet connection such as the IP address Network mask and GateWay Ethernet link object class 0xF6 Holds information on link specific counters and instances associated with the...

Page 83: ...graphs Vendor specific JVL object class 0x64 page 85 and Vendor specific JVL object class 0x65 page 87 4 2 1 Type definitions UINT 16bit DINT 32bit STR String of ASCII chars 4 2 2 Identity object class 0x01 Holds data on different module specific data Instance 1 See the EtherNet IP spec for further details section Vol2 sect 5 3 Supported Services 0x1 Get_Attribute_All 0x10 Set_Attribute_Single 0xE...

Page 84: ...2 sect 5 3 Supported Services 0x1 Get_Attribute_All 0x10 Set_Attribute_Single 0xE Get_Attribute_Single To change the IP address Subnet mask or gateway The object 0xF5 attr 5 is used The data format consists of 22 bytes Byte 0 3 IP Address exc 192 168 0 58 0x3A 0x0 0xA8 0xC0 Byte 4 7 Subnet mask exc 255 255 255 0 0x0 0xFF 0xFF 0xFF Byte 8 11 Gateway exc 192 168 1 1 0x1 0x1 0xA8 0xC0 Byte 12 21 Not ...

Page 85: ... Instances 1 255 Motor registers Supported Services 0x10 Set_Attribute_Single 0xE Get_Attribute_Single Please notice Please find a complete list of register descriptions in the appen dex Motor registers MAC050 141 page 264 and Motor registers MAC400 4500 page 273 and Motor registers MISxxx page 292 Attr ID Access Name Data type Description 1 0xE Interface speed DINT Speed in Mbit s 2 0xE Interface...

Page 86: ...the motor is running Package Class 0x64 Service 0xE Read data Instance 0xC Actual velocity Attribute 0x1 Now the response data is received Data 0x00 00 01 15 This value 0x115 hex is the decimal value 277 which corresponds to 100 RPM This is the default velocity value So basically the motor can be controlled and all needed data can be retrieved using ex plicit messages This method is not suitable w...

Page 87: ...al inputs Package Class 0x65 Access module registers Service 0x0E Read data Instance 0x47 Digital inputs register in the module Attribute 0x1 Data 0x00 0x00 0x00 0x03 The value 0x03 corresponds to IN1 and IN2 set The IN2 IN4 is only available in the MAC00 Ex41 modules This method is not suitable when data is needed very fast and frequently For this pur pose I O messaging Implicit messaging should ...

Page 88: ...canner so input is data flowing from the motor to the scanner and output is vice versa On the EthernetIP tab in MacTalk these I O s are configured NB If an index is set to zero No selection then the following indexes is discarded Thereby computing resources in the drive are released which makes much faster cycle times possibly Please see next paragraph All words are 4 bytes In the example shown ab...

Page 89: ...as 32 bit some of them originally derive from 16 bit in the case of MAC050 141 In those situations it is necessary to interpret them as 16 bit to get the sign correct 4 3 2 Minimum cycle time The minimum cycle time is the minimum amount of time between each cyclic request on the Ethernet If operating with values lower than those listed data loss will occur The minimum cycle times is only valid if ...

Page 90: ...Industri Elektronik A S User Manual Ethernet for MAC and MIS motors 4 3 Using cyclic I O messages 4 3 3 Cyclic data in the PLC The complete list of Controller tags defined Write assembly Read assembly Tt3027GB ...

Page 91: ... when the connection has been established TT3028GB Explanation 2 Operating Mode 2 position mode 10 Actual Position 200000 12 Actual Velocity 0 Cnt s 169 Actual Torque 0 1024 300 35 Error Status 524304 no errors MacTalk setup Explanation 3 Requested position 200000 5 Velocity 8000 8000 2820 RPM 6 Acceleration 2 Cnt s 2 543 RPM s 7 Torque 512 512 150 0 No Selection value is not updated ...

Page 92: ...erface and relevant software A PC installed with MacTalk software in order to setup the MAC motor Relevant signal and low voltage cables such as Ethernet cable 24V power cable RS232 cable Please also see the section Cable accessories page 26 A 24VDC supply able to deliver min 1000mA 24V pr motor used Concerning AC high voltage supply for the MAC motor please refer to the general MAC motor user man...

Page 93: ... Module sta tus OK Module not configured Major module fault Minor module fault Self test in progress NET ERR Red Green No IP address CIP conec tion estab lished No CIP connection Duplicate IP address Connec tion time out Self test in progress PWR Green Powerisnot applied Power is applied Power is applied to module but no communication with motor Notes Blinking Flashing with equal on and off period...

Page 94: ...effect and for permanently saving the setup Information such as EtherNet IP firmware version MAC address and module status is displayed in the Status field Notice that the MAC address is unique for each module and can not be changed A label at the front plate of the module also indicate the MAC address Basic use of MacTalk is described in the MAC motor manual lit no LB0047 xxGB If DHCP is enabled ...

Page 95: ... and the IO as sembly cyclic data setup according to the following 2 Press the Apply and save button for permanent storage of the EthernetIP settings 3 Switch off the 24V supply while connecting the Ethernet cable to the switch PLC 4 Re apply 24V set the PLC into RUN mode Now we should be able to control the motor 5 Start by setting the profile data such as Velocity acceleration and Torque Accordi...

Page 96: ...to Position and the motion progress can be followed Remember to change the Set_ Mode tag back to 0 to stop the sending of Msg2 messages Changing the Servo_1 O_Data 0 tag will result in an immediate repositioning of the axle in the motor This value is defined in the IO assembly and is interchanged cyclic To stop the motor set Mode 0 and set Set_Mode 1 to apply the mode set ting Reset Set_Mode to 0 ...

Page 97: ...gix5000 Project After creating a new project in the RSLogix5000 application the JVL motor must be add ed to the Ethernet bus system in the project This is done by right clicking the Ethernet Module icon in the project manager as illus trated below Select New Module and the following screen appears Expand the Communications list ...

Page 98: ... be entered Fill in the information as illustrated below The IP address illustrated is the factory default and may be changed according to the lo cal settings After pressing Ok the JVL motor is added to the project and can now be reached by the PLC A demonstration video showing how to set up the system can be seen using this link http www jvl dk TT3048 01GB TT3049 01GB ...

Page 99: ...and which registers to use in the different applications The chapter should be considered as a general guideline to get started with the EthernetIP integration of the JVL Motor IMPORTANT Please notice that the motor will be active and may start moving when the mode register reg 2 is set to anything than 0 passive mode The MAC400 800 1500 and 4500 will require AC supply in order to be active ...

Page 100: ... the needed acceleration A_SOLL A x 271 RPM s Ex We need the motor to accelerate with 100000 RPM s so A_SOLL 100000 271 369 counts sample 3 Now set the motor into velocity mode and thereby activate the motor Ex The motor needs to be activated by setting it into velocity mode so we need to set the mode register to the value 1 Mode 1 which is velocity mode now the mo tor will use the acceleration an...

Page 101: ...motor will stop and the cause will be present in the register 35 and hence in the I O data This register also holds information on the motion status such as In position bit 4 Accelerating bit 5 Decelerating bit 6 Please find a complete list of register descriptions in the appendix Motor registers MAC050 141 page 264 and Motor registers MAC400 4500 page 273 or Motor registers MISxxx page 292 The JV...

Page 102: ...over EtherNet IP is possible by using explicit messages to address each register to be setup and then command the motor to save the configuration in flash af terwards for permanent storage Using this method the motor only needs to be setup once and is easy achievable from the scanner itself either as an initialization routine each time the PLC initializes and thereby avoiding the permanent storage...

Page 103: ...the factor is 1 RPM 2 77 counts sample so we need to send the value 2770 0x00000AD2 The instance refers to the register number so we need to set instance to 5 V_SOLL Please notice that the value is represented as 32bit Next we set the acceleration to be used We need the acceleration to be 20000 RPM s2 This value also needs to be scaled the factor is 1 RPM s 0 0036 counts sample so in order to reac...

Page 104: ... the register We need 25 so we write 255 0x000000FF to instance 7 T_SOLL And finally we send the command that saves the settings permanently in flash This is ba sically a matter of writing the save in flash command to the command register 211 in the motor The command is 2 and the instance is 211 0xD3 Value 0x00000002 Now the motor saves the setting and resets It is required to toggle the 24V power...

Page 105: ...s switch is typical ade quate along with the following features Auto negotiation full duplex 100 MBit Port mirroring for network analysing and troubleshooting purposes This feature makes it possible to route traffic out on a separate port connected to a network analyser for debugging purposes and general performance monitoring The JVL EthernerNetIP module has a small build in 2 port switch useful ...

Page 106: ...tion and torque parameters using the IO assembly The example is developed for use on a CompactLogix L23E PLC using the Rockwell Logix500 software package and MacTalk from JVL The JVL MacTalk application is used to setup the IO assembly to fit the example Although this example expects default setup in the JVL motor the IO assembly needs to be setup according to the following MacTalk setup located a...

Page 107: ... information from the motor and is setup in the following way Reads GET_ATTRIBUTE_SINGLE the actual position register in the motor instance 10 and stores the 4 byte value in the ACTUAL POSITION tag TT3025GB Stores the value into this tag Register 10 actual position Please notice the mixed decimal and hexadecimal notation used ...

Page 108: ...ion mode Explicit messages are always 4 bytes long and uses Class 0x64 to access the internal mo tor registers The instance refers to the actual motor register Instance 2 points to the motor active mode register Explicit messages are typical used for configuration purpose or for rare data update situ ation that does not require a cyclic update timing Tt3026GB 4 byte tag value to write in register ...

Page 109: ...c I O some preconditions have to be met Zero search position zero search velocity and zero search torque torque only for MAC motors has to be set in MacTalk in the Main tab and saved in flash in the motor once and for all Startup mode should be set to position for the motor to stay in position after the homing sequence And this setting should also be saved in flash TT3083GB TT3084GB ...

Page 110: ...ro search mode only MAC motors 13 Forward only zero search mode 14 For ward backward zero search mode only MAC motors 25 Enc index only MAC400 26 Enc quick index only MAC400 For a comprehensive description of the homing modes refer to the general MAC motor manual LB0047 xxGB Observe that the Actual_Mode is changing to the homing mode Now the module is blocking cyclic writes TO the motor Cyclic rea...

Page 111: ...egister P7 in motor to requested relative offset 2 Make sure one net cycle has passed so P7 resides in the motor 3 Issue command 0x010000F1 0x01000071 if the MIS MILxxx motor is used in mod ule command register register 983040 in MacTalk 4 Make sure one net cycle has passed so command is interpreted by the motor 5 Set module command register to zero This will prepare the Ethernet module for new co...

Page 112: ...112 JVL Industri Elektronik A S User Manual Ethernet for MAC and MIS motors 4 9 ODVA Conformance Certificate TT3091 01GB ...

Page 113: ...JVL Industri Elektronik A S User Manual Ethernet for MAC and MIS motors 113 5 POWERLINK Users Guide ...

Page 114: ...ently managed by the Ethernet Powerlink Standardization Group http www ethernet powerlink org Powerlink operates as a protected segment by design and connects to a none determin istic Ethernet network via a gateway router device This gateway acts as a defensive bar rier against attacks by providing fire wall security measures TT3044 02GB MAC Powerlink Module Type MAC00 4 shown or MAC00 41 extended...

Page 115: ...andwidth for the transmission of data that is not time critical The Managing Node MN grants access to the physical medium via dedicated poll request messages As a result only one Con trolled Node CN has access to the network at a time and thus no collisions occur Ethernet POWERLINK applies the same protocol technology as CANopen It defines SDOs Service Data Objects PDOs Process Data Objects and th...

Page 116: ...side EPL segment NMT Network Management PDO Process Data Object for cyclic data PReq Poll Request A frame used in the isochronous phase of the cyclic commu nication With Poll Request the MN requests the CN to send its data PRes Poll Response A frame used in the isochronous phase of the cyclic commu nication The CN responses with a Poll Response frame when it receives a Poll Request from the MN SCN...

Page 117: ...eterisation data or transfer of IP based protocols like TCP or UDP The Idle phase can be 0 It s possibly for the MN to multiplex the time slots in the isochronous phase in or der to service some CN s more often than others During system start up the MN applies a reduced POWERLINK cycle without the isochronous phase in order to configure the CNs with SDO communication For further information please...

Page 118: ...hine in the NMT_GS_COMMUNICATING super state NMT_GS_COMMUNICATING NMT_CS_NOT_ACTIVE This is a none permanent state that allows a starting node to recognize the cur rent network state Time out for SoC PReq PRes and SoA frames trigger the device to enter state NMT_CS_BASIC_ETHERNET The NMT_CS_PREOPERATIONAL_1 Transition from NMT_CS_NOT_ACTIVE to NMT_CS_PRE_OPERATION AL_1 is triggered by a SoA or SoC...

Page 119: ... participate in cyclic frame exchange but it still observes SoA frames NMT_CS_ PRE_OPERATIONAL_2 NMT_CS_ PRE_OPERATIONAL_1 NMT_CS_ READY_TO_OPERATE NMT_CS_ OPERATIONAL NMT_CS_ STOPPED NMT_CS_ NOT_ACTIVE NMT_CS_ BASIC_ETHERNET NMT_GS_ INITIALISATION Error condition NMT StopNode NMT_CS_EPL_MODE NMT_CS NMT CN State Machine Communication type No communication Listen only Legacy Ethernet POWERLINK Cycl...

Page 120: ...ol specifies the Object Dictionary in the adapter module in addition to communication objects for exchanging cyclic pro cess data and acyclic messages The MAC00 ELx module uses the following message types Process Data Object PDO The PDO is used for cyclic I O communication in other words process data Service Data Object SDO The SDO is used for much slower acyclic data transmis sion NMT response se...

Page 121: ...AL2 NMT_CS _READY _TO_OP ERATE NMT_CS_B ASIC_ETH ERNET ERROR ERR Red No error Error Booting error PWR Green Power is not applied Power is applied to both motor and mod ule Power is applied to module but no communi cation with motor Notes Blinking Flashing with equal on and off periods of 200ms 2 5Hz Single flash Repeating on for 200ms and off for 1s Double flash Two flashes with a period of 200ms ...

Page 122: ...Powerlink tab 4 Change the last number in the IP address node ID to one that doesn t conflict with other devices on the sub net 5 Press Apply and save Installation 6 Connect an Ethernet RJ45 M12 cable to IF3 on the X20 and to L A IN or L A OUT at the MAC00 ELx module or the CN2 and CN3 at the MIS MIL motors 7 Connect power to the X20 and communication cable from the PC with B R Auto mation Studio ...

Page 123: ...ct Build configuration in the Project menu 22 When the build is finished then click the Transfer button 23 There may appear a warning Just ignore and click OK Investigating cyclic data 24 Right click MAC00 ELx in the physical view of the project explorer window and click Open I O Mapping 25 In the View menu click Monitor 26 You should now be able to see the cyclic I O registers like in the below p...

Page 124: ...of cyclic registers NB If an index is set to zero No selection then the following indexes is discarded Thereby computing resources in the drive are released which makes much faster cycle times possibly Please see next paragraph Default registers in transmit PDO 21 Slave Master Read words in MacTalk The motor registers 35 36 and 211 should NOT be inserted in the cyclic write list as this may give u...

Page 125: ...de MODULE registers can be appended as the last registers in the list at no extra timing cost If motor register 35 is not in the list it will be added internally anyway and has to be added to the minimum cycle time with 2 0ms if MAC050 MAC141 and with 30μs if MAC400 MAC4500 or MIS MILxxxxxELxxxx No of motor registers transmitted in each direction Motor series MAC050 to MAC141 Motor series MAC400 t...

Page 126: ...dex hex Sub Index Data Type Read only Default Description Device type 1000 UNSIGNED32 X 0x0 Contains information about the device type Error Register 1001 UNSIGNED8 X This is the mapping error register and it is part of the emergency ob ject If some of the sub index are high an error has occured 0 Generic error Mandatory 1 Current 2 Voltage 3 Temperature 4 Communication Overrun 5 Device profile sp...

Page 127: ...s are not automatically saved to permanent memory after a change The parameters can be saved permanently by applying a Save parameters to flash com mand afterwards Index hex Sub Index Type Read only Default Description Module command 2010 0 UNSIGNED32 Module command object See possible commands below Module parameters 2011 0 UNSIGNED8 X 63 Subindex count 1 UNSIGNED32 X Access to module register N ...

Page 128: ...ubindex 15 See the description 9 2 Register Descriptions page 233 5 4 7 Object 0x2011 The module registers is mapped to object 0x2011 The subindex 3 6 31 is R W the rest is read only The register numbers are used as sub indexes in the object See register descriptions in chapter 8 9 2 Register Descriptions page 233 5 4 8 Object 0x2012 Object 0x2012 are for acyclic view or change of motor registers ...

Page 129: ...T Response Services NMT Response Services are used by the MN to query NMT information from the CN such as current state error and setup data Ethernet POWERLINK specifies the follow ing NMT Response Services NMT State Response IdentResponse StatusResponse Via NMT State Response service the CNs signals their states to the MN IdentResponse Service is used by the MN to identify configured but unrecogn...

Page 130: ...XML Device Description Files XDD are XML files that specify the properties of the slave device for the Ethernet POWERLINK master MN The description files contain information on the supported communication objects XDD files for JVL Drives are avail able through your local JVL representative and http www jvl dk ...

Page 131: ... motor to run with a constant speed of 1200 RPM So V_SOLL 1200 2 77 433 cnt smp 2 Set the needed acceleration A_SOLL A x 271 RPM s Ex We need the motor to accelerate with 100000 RPM s so A_SOLL 100000 271 369 cnt smp 3 Now set the motor into velocity mode and thereby activate the motor Ex The motor needs to be activated by setting it into velocity mode so we need to set the mode register to the va...

Page 132: ...stop and the cause will be present in the register 35 and hence in the I O data This register also holds information on the motion status such as In position bit 4 Accelerating bit 5 Decelerating bit 6 Please find a complete list of register descriptions in the appendix Motor registers MAC050 141 page 264 and Motor registers MAC400 4500 page 273 or Motor registers MISxxx page 292 The JVL motor is ...

Page 133: ...c I O some preconditions have to be met Zero search position zero search velocity and zero search torque torque only for MAC motors has to be set in MacTalk in the Main tab and saved in flash in the motor once and for all Startup mode should be set to position for the motor to stay in position after the homing sequence And this setting should also be saved in flash TT3083GB TT3084GB ...

Page 134: ... mode 12 Torque based zero search mode only MAC motors 13 Forward only zero search mode 14 For ward backward zero search mode only MAC motors For a comprehensive description of the homing modes refer to the general MAC motor manual LB0047 xxGB Observe that the Actual_Mode is changing to the homing mode Now the module is blocking cyclic writes TO the motor Cyclic reads is still active Wait for regi...

Page 135: ...ter P7 in motor to requested relative offset 2 Make sure one net cycle has passed so P7 resides in the motor 3 Issue command 0x800000F1 0x80000071 if the MIS MILxxxxxxELxxxx motor is used in module command register register 983040 in MacTalk 4 Make sure one net cycle has passed so command is interpreted by the motor 5 Set module command register to zero This will prepare the Ethernet module for ne...

Page 136: ...136 JVL Industri Elektronik A S User Manual Ethernet for MAC and MIS motors ...

Page 137: ...JVL Industri Elektronik A S User Manual Ethernet for MAC and MIS motors 137 6 PROFINET Users Guide ...

Page 138: ...IRT channel is used e g in some motion control applications not implemented in JVL MAC00 EP4 EP41nor the MIS MIL MILxxxxxxEPxxxx motor PROFINET IO devices are structured in slots and sub slots which can contain modules and sub modules correspondingly Devices can have almost any number of slots and sub slots and they can be virtual or real Device specific data is represented in slot 0 module and su...

Page 139: ...munication in which process data are sent cyclically at pre defined intervals DAP Device Access Point DCP Discovery and Configuration Protocol GSD General Station Description Device description file in a speci fied form Each device active passive stations on PROFINET has to have its own GSD File GSD files in PROFINET are writ ten in GSDML GSDML General Station Description Markup Language is a XML ...

Page 140: ...ext MAC MIx Colour Constant off Constant on Blinking Flickering L A IN L2 Green No valid Ethernet connection Ethernet is connected Activity on line L A OUT L3 Green No valid Ethernet connection Ethernet is connected Activity on line SF L1 Red No System failures System failures DCP signal service is initiated BF ERR Red No Bus failures Bus failures No data exchange PWR Green Power is not applied Po...

Page 141: ...L motor has been mechanically and electrically installed accord ing to the instructions in previous chapters and has been initialized by the drive the mas ter station must be prepared for communication with the module Configuration of the master station requires a type definition GSD file In PROFINET IO the GSD file is writ ten in XML based language called GSDML MAC00 EPx has a GSD file which is a...

Page 142: ...default and may not be the actual used IP address after the PLC has established communication If checking the Power up with blank name of station factory default in MacTalk and save the configuration in flash then the MAC00 EPx MIS MILxxxxxxEPxx will always start up without a station name This enables the possibility of having new devices on stock and if needed exchange them in the machine without...

Page 143: ...and to L A IN and L A OUT at the MAC module and CN2 and CN3 at the MIS MIL motors 7 Connect power to the ET200S and Ethernet patch cable from the PC with Siemens TIA Portal v11 installed to the ET200S PLC 8 Make sure power is applied to all devices Add the GSD file contains info on the capabilities of the device 9 In the Options menu of TIA Portal V11 select Install general station description fil...

Page 144: ...a tion for further info If not continue to the next step 17 Connect the two devices by dragging a line between the small green boxes in each device and it should now look like below Associating with the cyclic data 18 Drag the 8 registers input and 8 registers output from the hardware cata log under Other field devices PROFINET I O I O JVL Industri Elektronik A S PNS Module Input modules and Outpu...

Page 145: ...lic communication to the 8 registers input and output see section 6 3 1 for setting up those with Mactalk There is also an example on the web page www jvl dk in the download section named JVL_PN_ex1 zip which can be downloaded and unzipped This example is made for MAC140 but can easily be changed to work with MAC400 MAC4500 or the MIS MIL motors TT3053 01GB ...

Page 146: ...s is placed in cyclic R W then the register number has to be calculated as follows Register number 65536 x sub index Example module command sub index 15 65536 x 15 register 983040 When module registers register numbers above 65535 are chosen they have to be placed after the motor registers in the list of cyclic registers NB If an index is set to zero No selection then the following indexes is disc...

Page 147: ...clear of errors reset of motor etc please insert the module command register 983040 in Mactalk in the cyclic write list and send commands this way For a list of commands for the module command register please refer to Register Overview page 226 Object index Register no Motor register short Motor register description 0 2 MODE_REG Operating mode 1 3 P_SOLL Target position 2 5 V_SOLL Maximum velocity...

Page 148: ...mes is only valid if not sending any acyclic requests while in any operating mode MODULE registers can be appended as the last registers in the list at no extra timing cost Motor register 35 shall be in the cyclic read list as it is also used internally Motor series Number of motor regis ters transmitted in each direction MAC050 to MAC141 MAC400 to MAC4500 MIS MILxxx 1 1 4ms 1ms 1ms 2 2 8ms 1ms 1m...

Page 149: ...done in a similar way in Step7 but this is not shown Accessing process data The PZD is done by setting up the motor registers you want to use with MacTalk or with acyclic parameter access to object 0x11 subindex 16 31 In MacTalk the process data is configured on the PROFINET tab see below After change of the registers remember to press the Apply and save button TT3082GB Here the actual position is...

Page 150: ... 0x11 subindex 15 See the description Register Descriptions page 227 Object 0x11 The module registers is mapped to object 0x11 The subindex 3 31 is R W the rest is read only The register numbers are used as sub indexes in the object See register descriptions in chapter 8 Register Descriptions page 227 Object 0x12 Object 0x12 are for acyclic view or change of motor registers Please find a complete ...

Page 151: ..._Write_DB Example Write 0xFEDCBA98 to object 0x12 subobject 0x31 motor register no 49 in JVL device with ID 2042 Please notice Even though all registers is transmitted as 32 bit some of them originally derive from 16 bit in the case of MAC050 141 In those situations it is necessary to interpret them as 16 bit to get the sign correct Name Description Example ID ID of device 2042 Index Object and su...

Page 152: ... from object 0x11 subobject 0x22 module parameter no 34 in JVL device with ID 2042 Please notice Even though all registers is transmitted as 32 bit some of them originally derive from 16 bit in the case of MAC050 141 In those situations it is necessary to interpret them as 16 bit to get the sign correct Name Description Example ID ID of device 2042 Index Object and sub object to read from High byt...

Page 153: ...RT protocol LLDP and PN_PTCP frames must be recognized Otherwise the net might very well get congested because non Profinet conforming switches will broadcast messages not intended for broadcast Besides the Port mirroring function for network analyzing and troubleshooting purposes can be advantages This feature makes it possible to route traffic out on a separate port connected to a network analys...

Page 154: ...e following Constant values valid for MAC800 for other motors please consult the motor manual 1 Set the needed velocity V_SOLL V x 2 77 rpm Example We need the motor to run with a constant speed of 1200 RPM So V_SOLL 1200 2 77 433 cnt smp 2 Set the needed acceleration A_SOLL A x 271 RPM s2 Example We need the motor to accelerate with 100000 RPM s2 so A_SOLL 100000 271 369 cnt smp2 3 Now set the mo...

Page 155: ...top and the cause will be present in the register 35 and hence in the I O data This register also holds information on the motion status such as In position bit 4 Accelerating bit 5 Decelerating bit 6 Please find a complete list of register descriptions in the appendix Motor registers MAC050 141 page 264 or Motor registers MAC400 4500 page 273 or Motor registers MISxxx page 292 The JVL motor is ba...

Page 156: ...c I O some preconditions have to be met Zero search position zero search velocity and zero search torque torque only for MAC motors has to be set in MacTalk in the Main tab and saved in flash in the motor once and for all Startup mode should be set to position for the motor to stay in position after the homing sequence And this setting should also be saved in flash TT3083GB TT3084GB ...

Page 157: ...o search mode only MAC motors 13 Forward only zero search mode 14 For ward backward zero search mode only MAC motors 25 Enc index only MAC400 26 Enc quick index only MAC400 For a comprehensive description of the homing modes refer to the general MAC motor manual LB0047 xxGB Observe that the Actual_Mode is changing to the homing mode Now the module is blocking cyclic writes TO the motor Cyclic read...

Page 158: ... up register P7 in motor to requested relative offset 2 Make sure one net cycle has passed so P7 resides in the motor 3 Issue command 0x800000F1 0x80000071 if MIS MILxxxxxxEPxxxxx in module command register register 983040 in MacTalk 4 Make sure one net cycle has passed so command is interpreted by the motor 5 Set module command register to zero This will prepare the Ethernet module for new comman...

Page 159: ...JVL Industri Elektronik A S User Manual Ethernet for MAC and MIS motors 159 7 ModbusTCP IP Users Guide ...

Page 160: ...ide checksum protection It is protocol based on the standard TCP IP protocols so it is applicable anywhere there is standard Ethernet available as it have no special requirements regarding the Ethernet hardware opposite some of the other industrial Ethernet protocols Further information about Modbus TCP is available from the Modbus Organization www modbus org TT3058 02GB MAC Modbus TCP IP Module T...

Page 161: ...ser configurable MAC Media Access Controller MAC address the hardware address of the de vice MacTalk A windows PC based program supplied from JVL This is an overall program to install adjust and monitor the function of the motor and a module in stalled in the motor TCP Transfer Control Protocol an IP based protocol used widely on the inter net UDP User Datagram protocol an IP based protocol used w...

Page 162: ...onnected RUN L1 Initializing or no valid Ethernet TCP server open for connections TCP client connected Wrong constel lation of IP NM and GW ERROR ERR No Errors Fatal error PWR Power is not applied Power is applied to both motor and module Power is applied to module but no communi cation with motor Notes Flickering Rapid flashing with a period of approx 50ms 10Hz TT3059 02GB Hardware serial number ...

Page 163: ...otor and in the module are all 32 bit To comply with the clean 16 bit Modbus standard a 32 bit register must be read or written as two consecutive 16 bit registers The register address mapping follows the normal documented register num bers but the address field must be multiplied by two so to read or write register 3 P_SOLL use the address 6 Thereby enabling transfer of one 32 bit register as two...

Page 164: ... 0x03 0x80 0x06 0x00 0x02 Response Note the byte order 0x00 0x01 0x00 0x00 0x00 0x07 0x01 0x03 0x04 0x64 0x01 0xC0 0xA8 Possibly exception responses 0x02 0x03 For further documentation see Modbus_Application_Protocol_V1_1b pdf and Modbus_Mes saging_Implementation_Guide_V1_0b pdf found on www modbus org Please notice Even though all registers is transmitted as 32 bit some of them originally derive ...

Page 165: ...17 Read Write multiple registers Simultaneous read and write of registers Max 124 x 16bit read registers at a time 62 x 32bit registers And max 32 x 16bit write registers at a time 16 x 32bit registers Only even no of 16bit registers is supported The response time is increased slightly for every register added See Minimum poll time page 166 for minimum poll time Request To be repeated 1 16 times 7...

Page 166: ...s transmitted as 32 bit some of them originally derive from 16 bit in the case of MAC050 141 In those situations it is necessary to interpret them as 16 bit to get the sign correct 7 2 5 Minimum poll time The minimum poll time is the minimum amount of time between each poll request on the Ethernet If operating with values lower than those listed data loss will occur The minimum poll times is only ...

Page 167: ...ge the IP address to one suitable for the network 5 Press Apply and save Installation 6 Connect an Ethernet RJ45 M12 cable to the Ethernet interface of the PC with Mod bus Poll installed and to L A IN or L A OUT at the MAC module and CN2 or CN3 at the MIS MIL motors 7 Make sure power is applied to all devices Connect to MAC00 EMx or MIS MILxxxxxxEMxxxx 8 In the Connection menu of Modbus Poll selec...

Page 168: ...the default Mbpoll1 window and selecting read write definition In the shown example below is chosen Address 20 register 10 and Quantity 6 3 x 32bit registers This means that register 10 11 and 12 is polled 12 By choosing File and New a second poll window is opened where Address 70 and Quantity 2 is chosen Meaning that error register 35 is polled Your screen should now look something like this TT30...

Page 169: ...turning If not then try to also write velocity reg 5 addr 10 acceleration reg 6 addr 12 and or Torque reg 7 addr 14 to some valid values Please find a complete list of reg ister descriptions in the appendix Motor registers MAC050 141 page 264 or Motor registers MAC400 4500 page 273 or Motor registers MISxxx page 292 Please notice Even though all registers is to be transmitted as 32 bit some of the...

Page 170: ...273 or Motor registers MISxxx page 292 7 3 1 Module registers Note Module parameters are not automatically saved to permanent memory after a change The parameters can be saved permanently by applying a Save parameters to flash command after wards Logic register no Modbus address hex Modbus address dec Read only Default Description 0 0x8000 32768 X Not used 1 0x8002 32770 X High 16 bit of MAC addre...

Page 171: ...r For connecting to the motor please follow the Quick start guide page 167 7 4 1 Running Velocity control To use the JVL motor in velocity mode the following motor registers is of interest 1 Mode mode register 2 2 V_SOLL velocity register 5 3 A_SOLL acceleration register 6 4 Error Status register 35 So to control these registers setup polling of motor register 12 actual velocity modbus address 24 ...

Page 172: ... motor to accelerate with 100 000 RPM s2 so A_SOLL 100 000 271 369 cnt smp2 0x0171 Insert the calculated values in send frames and send to motor as shown below modbus address 10 11 register 5 modbus address 12 13 register 6 Remember to press the send button for every new value Now set the motor in velocity mode and thereby activate the motor Ex The motor needs to be activated by setting it into ve...

Page 173: ...gisters Mode mode register 2 Requested position P_SOLL register 3 Requested velocity V_SOLL register 5 Requested acceleration A_SOLL register 6 In this mode the position is controlled by applying a requested position to the P_SOLL register and the actual position is monitored in the P_IST register The V_SOLL and A_SOLL registers sets the velocity and acceleration used when positioning occurs For e...

Page 174: ... it into position mode so we need to set the mode register to the value 2 Mode 2 which is position mode now the motor will use the acceleration and the velocity just configured Modbus address 4 5 register 2 Set a position in the motor by writing a position to register 3 P_SOLL Modbus address 6 7 in the example shown below is used position 5 000 000 0x 004C 4B40 remark the order TT3068 01GB TT3069 ...

Page 175: ...will be present in the register 35 This register also holds information on the motion status such as In position bit 4 Accelerating bit 5 Decelerating bit 6 Please find a complete list of register descriptions in the appendix Motor registers MAC050 141 page 264 or Motor registers MAC400 4500 page 273 or Motor registers MISxxx page 292 The JVL motor is basically put into a working mode and into a p...

Page 176: ...176 JVL Industri Elektronik A S User Manual Ethernet for MAC and MIS motors ...

Page 177: ...JVL Industri Elektronik A S User Manual Ethernet for MAC and MIS motors 177 8 Sercos ...

Page 178: ...ttps www sercos org 8 1 1 Abbreviations Following general used terms are useful to know before reading the following chapters 100Base Tx 100 MBit Ethernet on twisted pairs AT Acknowledge Telegram Telegram from slave to master motor to PLC Cyclic data Data which is transferred at every cycle from master to slave or from slave to master CP0 CP4 Communication Phases 0 4 FG Function Group FSP Function...

Page 179: ...ix ConFiGuration used by the JVL profile SCP_Var Cfg Sercos Communication Profile Variable Configuration used by the FSP Drive SCP_Sync Sercos Communication Profile Synchronization Sercos Serial Realtime Communication System SMP Sercos Messaging Protocol SVC Service Channel Channel for non cyclic data UCC Unified Communication Channel UC Channel ...

Page 180: ...is connected Activity on line STATUS L1 Multi color See table below ERROR ERR Multi color Sub Device not active Parameteri zation level Operating level Class 1 Diagnostics error PWR PWR Green Power is not applied Power is applied to both motor and module Power is ap plied to module but no com munication with motor Notes Flickering Rapid flashing with a period of approx 50ms 10 Hz TT3010 02GB Error...

Page 181: ...ormal operation cyclic is running Green Orange Flashing HP0 HP2 Hot plug modes Flashes once for HP1 twice HP2 continuously for HP0 Green Dark Flashing Loopback Red Red On Communication error See Diagnosis errors and warnings page 202 for error codes Red Green Flashing Communication error MST Losses See Diagnosis errors and warnings page 202 for error codes Red Orange Flashing Application error See...

Page 182: ...igure the JVL motor and the Sercos module is with the MacTalk application MacTalk can be connected either by serial RS232 for MAC motors RS485 for MIS MIL motors or by Ethernet Please refer to the below table for apropriate cable types Serial connection is done directly from PC with one of the above mentioned cables and the apropriate USB to RS232 or USB to RS485 adaptor Ethernet connection is don...

Page 183: ...ress must only be used once in a Sercos network Sercos also supports automatic slave ad dressing If you enter the address 0 for all slave devices the addressing is executed auto matically by the master at power up if the used master supports automatic addressing 8 2 5 Quick start with Pack Profile and Bosch Rexroth MLC XLC master This paragraph guides you through the steps needed to jog the motor ...

Page 184: ...le the FSP Drive Pack Profile has to be enabled in the JVL Ser cos module This is factory default setting but if not enabled already then check the FSP Drive Pack Profile in the Sercos tab in Mactalk and press the Apply and save button Please refer to the picture below For connecting MacTalk to the motor please see Connect to MacTalk on page 182 TT3118 01GB ...

Page 185: ...aster Ethernet port and the JVL motor L A IN port is connected to the MLC master Sercos port and that all devices are correctly powered The PWR and the L A IN LED s should be on Start IndraWorks with an empty project Drag and drop the appropriate master from library Drive and control to the project in Project explorer Key in the device name you want to use and press Next TT3119 01GB TT3120 01GB ...

Page 186: ...onik A S User Manual Ethernet for MAC and MIS motors 8 2 Commisioning Make sure the correct IP address and device type is chosen as shown below in the figure Select the programming language you prefer TT3121 01GB TT3122 01GB ...

Page 187: ...for MAC and MIS motors 187 8 2 Commisioning Press Next to step 4 For some masters you may have to select the Sercos interface With the MLC L65 shown here it is always present Press the finish button and the MLC master is added TT3123 01GB TT3124 01GB ...

Page 188: ...dd JVL MIS MIL or MAC motor with PackProfile to IndraWorks pro ject Fold out the master options and add the motor by right clicking the Sercos entry and selecting the Scan bus configuration Then after a short while a new window should appear which should look something like this TT3124 01GB TT3126 01GB ...

Page 189: ...ive should be added to the project as shown below 8 2 5 4 Jog the motor Right click the master and select Switch online Then download the configuration to the Sercos master by again right clicking the master and then choose Synchronize and Download motion configuration from PC to the control Click Yes and OK to all pop up windows that appear TT3128 01GB TT3129 01GB ...

Page 190: ...he Login button and answer yes to all pop up windows and then press ing the BB button for shifting to phase 4 the Enable button should become active Then pressing the Enable button should enable the drive torque on and then the jog buttons and the other functions are active For making a PLC application and controlling the motor drive this way please consult the controller manual TT3131 01GB TT3132...

Page 191: ...cos module This is factory default setting but if not enabled already then check the FSP Drive Pack Profile checkbox in the Sercos tab in Mactalk and press the Apply and save button Please refer to the picture below For connecting MacTalk to the motor please refer to Connect to MacTalk page 182 8 2 6 2 Add SDDML file to IndraWorks Start IndraWorks with an empty project Download the Sercos SDDML fi...

Page 192: ...aster to IndraWorks project Make sure the PC with IndraWorks is connected to MLC master Ethernet port and the JVL MAC motor L A IN port or the JVL MIS MIL motor CN2 port is connected to the MLC master Sercos port and that all devices are correctly powered The PWR and the L A IN LED s should be on if MAC motor is used If a MIS MIL motor is used then the PWR and the L2 LED s should be on Drag and dr...

Page 193: ...User Manual Ethernet for MAC and MIS motors 193 8 2 Commisioning Key in the device name you want to use and press Next Make sure the correct IP address and device type is chosen as shown below in the figure TT3120 01GB TT3136 01GB ...

Page 194: ...194 JVL Industri Elektronik A S User Manual Ethernet for MAC and MIS motors 8 2 Commisioning Select the programming language you prefer Press Next to step 4 TT3137 01GB TT3138 01GB ...

Page 195: ...Add JVL motor with FSP Drive profile to IndraWorks project In the Library section of IndraWorks select Periphery and Sercos Then find the MAC00 ES FSPDrive if using a MAC servo motor or the MIS MILxxxxxxES FSP Drive if using a MIS MIL stepper motor This is dragged and dropped on the Sercos in the Project explorer like shown below TT3139 01GB TT3140 01GB ...

Page 196: ...r and the slaves is split into 6 phases states Please refer to the state machine figure From power up and until the slave receives Ser cos telegrams the slave is in the NRT Non Real Time state Communication Phases 0 and 1 CP0 CP1 identify the slaves on the net In communication phase 2 CP2 the time and data structure of the protocols for phase 3 and 4 CP3 CP4 are prepared and the slaves are configu...

Page 197: ... RO S 0 0021 IDN list of invalid operation data for CP2 RO S 0 0022 IDN list of invalid operation data for CP3 RO S 0 0025 Displays a list of all procedure commands supported by the drive RO S 0 0032 4 Gets sets the primary operation mode of the drive 3 RW S 0 0036 4 Velocity command value RW C S 0 0040 4 Velocity feedback value RW C S 0 0041 4 Homing velocity 50 0000 RPM RW S 0 0042 4 Homing acce...

Page 198: ...n check procedure command RW S 0 0129 4 Manufacturer class 1 diagnostic MC1D Error flags RO S 0 0130 3 4 Probe value 1 positive edge RO C S 0 0131 3 4 Probe value 1 negative edge RO C S 0 0132 3 4 Probe value 2 positive edge RO C S 0 0133 3 4 Probe value 2 negative edge RO C S 0 0134 4 Drive control word RW C S 0 0135 4 Drive status word RO C S 0 0138 4 Bipolar acceleration limit value 523333 33 3...

Page 199: ...a allocation 1 Probe 1 signal selection S 0 0051 IDN RW S 0 0427 3 4 Measuring data allocation 2 Probe 2 signal selection S 0 0051 IDN RW S 0 0428 3 4 IDN list of configurable measuring data S 0 0051 IDN RO S 0 0530 4 Clamping torque Torque used for homing against a hard stop 15 0 RW S 0 0531 Checksum of backup operation data RO S 0 1000 List of SCP classes and version RO S 0 1002 Communication cy...

Page 200: ... Connection setup RW S 0 1050 0 2 Connection number RW S 0 1050 0 3 Telegram assignment RW S 0 1050 0 4 Max length of connection RO S 0 1050 0 5 Current length of connection RO S 0 1050 0 6 Mapped cyclic consumer data AT data cyclic data from motor to PLC RW S 0 1050 0 8 Connection control RO S 0 1050 0 10 Producer cycle time RW S 0 1050 0 11 Allowed data losses RW S 0 1050 0 12 Error counter data...

Page 201: ...e FSP Drive this is done in the Sercos master by writing to the IDN s S 0 1050 x 6 in communication phase CP2 In communication phase CP3 these IDN s are then setup in the Sercos slave for cyclic communication The JVL Sercos module only uses freely dynamically cyclic mapping The standard telegrams from earlier generations of the Sercos protocol are not supported The IDN s S 0 0187 and S 0 0188 cont...

Page 202: ...s word S 0 0135 and the course of the error is then shown in the parameter S 0 0011 or S 0 0129 And in IDN S 0 0390 is the error number and in S 0 0095 the corresponding error description If an error is indicated in S 0 0129 then also bit 15 of S 0 0011 is set The error bits can be cleared with the command IDN S 0 0099 IDN Description Default Units Attributes S 0 0187 4 IDN list of configurable da...

Page 203: ...ndervoltage on bus Low AC voltage X X X 10 IX_ERR Phase error in power supply X 11 000F9001 PWM_LOCKED Excessive control deviation X 12 000F900A INT_COM_ERR Communication error internal X X X 13 C00F6029 PLIM_ERR Position limit value exceeded X X X 14 Reserved 15 Manufacturer specific error see error in S 0 0129 X X X Bit no Status code in S 0 0390 hex Error name Error description Applicable to mo...

Page 204: ...atus is then also given The definitions of the status bits of S 0 0013 are shown here below Bit no Status code in S 0 0390 hex Warning name Error description Applicable to motortype MAC050 MAC141 MAC400 MAC4500 MISxxx MILxxx 0 8 Reserved 9 C00E2026 UV_DETECT Undervoltage in power section X 10 14 Reserved 15 Manufacturer specific warning see S 0 0181 X Bit no Status code in S 0 0390 hex Warning nam...

Page 205: ...to work the slaves has to have correct and compatible IP setup IP address subnet mask and gateway address A list of IDN s related to the IP channel with default addresses are shown here RO Read Only RW Read and Writeable C Map able to Cyclic data T Map able to real Time bits IDN Description Default Units Attri butes S 0 0025 Displays a list of all procedure commands supported by the drive RO S 0 0...

Page 206: ... 8 3 10 Accessing motor registers and Sercos module registers Besides all the standard IDN s the JVL Sercos module also support direct accessing of all the native registers in the Sercos communication module and in the MAC MIS MIL motor controller They are accessed over the service channel using the P IDN s RO Read Only RW Read and Writeable C Map able to Cyclic data T Map able to real Time bits 3...

Page 207: ...ther values than listed then the motor will refuse to go to CP4 8 4 2 Sub Device state machine The JVL Sercos implementation support the GDP_StM Generic Device Profile class StateMachine Used IDN s with State machine GDP_StM RO Read Only RW Read and Writeable C Map able to Cyclic data T Map able to real Time bits In addition to the communication state machine there is a sub device state machine wh...

Page 208: ...muni cation state machine the following commands can be executed S 0 0420 Activate parametrization level procedure command PL S 0 0422 Exit parameterization level procedure command The sub device state machine is normally coupled with the communication state ma chine So in communication phases CP0 CP1 CP2 the sub device state machine is in pa rameterization level and in communication phase CP3 and...

Page 209: ...y for main power on 10 Drive ready and main power applied 11 Drive enabled PL is active OL is active main power off OL is active main power on no torque OL is active torque on Yes 13 Drive shut down error in C1D S 0 0011 1 Drive is shut down due to error Yes 12 Warning in C2D S 0 0012 When a warning occurs this bit is set to 1 Yes 11 Reserved 10 8 Current operation mode 000 Only supported primary ...

Page 210: ...0 0047 Position command value The position loop can be closed with the S 0 0051 Position feedback value 1 which refers to the motor encoder Used IDN s in operation mode position RO Read Only RW Read and Writeable C Map able to Cyclic data T Map able to real Time bits IDN Description Default Units Attributes S 0 0036 Velocity command value RW C S 0 0040 Velocity feedback value RW C S 0 0043 Velocit...

Page 211: ...Unit Attributes S 0 0130 3 Probe value 1 positive edge RO C S 0 0131 3 Probe value 1 negative edge RO C S 0 0132 3 Probe value 2 positive edge RO C S 0 0133 3 Probe value 2 negative edge RO C S 0 0169 3 Probe control 0 RW S 0 0401 3 Probe 1 RO C T S 0 0402 3 Probe 2 RO C T S 0 0405 3 Probe 1 enable 0 RW S 0 0406 3 Probe 2 enable 0 RW S 0 0409 3 Probe 1 positive latched RO C T S 0 0410 3 Probe 2 ne...

Page 212: ... is actually needed The IDN s S 0 0401 S 0 0402 and S 0 0409 to S 0 0412 are possible to map as real time bits Please refer to Real time bits page 213 for how to do this 8 4 5 Homing 8 4 5 1 Drive controlled Homing The drive controlled homing is started by S 0 0148 Drive controlled homing procedure command Before execution of the command the S 0 0041 homing velocity S 0 0042 homing acceleration an...

Page 213: ...lled homing with homing distance Always 0 Homing distance is not selected No 7 Position after drive con trolled homing Always 1 Drive is positioned at the reference position S 0 0052 No 6 Evaluation of position feedback marker pulse index pulse 0 The index pulse is evaluated 1 The index pulse is not evaluated Yes 1 5 Evaluation of home switch Always 0 Home switch is evaluated but if bit 10 is set ...

Page 214: ...the IDN s which are loaded with default values at power up When issuing one of the commands S 0 0262 Load defaults S 0 0263 Load working memory or S 0 0264 Backup working memory it is the same IDN s which are affected And also the S 0 0531 Checksum of backup op eration data is done on the IDN s listed in S 0 0192 Used IDN s with backup RO Read Only RW Read and Writeable C Map able to Cyclic data T...

Page 215: ... 8 4 9 Interpolation If the motion cycle time is larger than the sercos cycle time then the drive performs an internal interpolation of the cyclic position values if running in position mode Please refer to Supported cycle times Pack Profile FSP Drive and FSP Sync page 207 for possible cycle times ...

Page 216: ...have the error status register register 35 as one of the slave to master registers If not placed by the user then the Sercos module will overrule the configuration and place register 35 anyway When module registers register numbers above 65535 are chosen they have to be placed after the motor registers register numbers below 65535 in the list of cyclic reg isters If module registers is placed in c...

Page 217: ...ge 231 Please notice Even though all registers is transmitted as 32 bit some of them originally derive from 16 bit in the case of MAC050 141 In those sit uations it is necessary to interpret them as 16 bit to get the sign correct 8 5 2 Minimum cycle time FSP IO JVL Profile The minimum cycle time is the minimum amount of time between each cyclic request on the Ethernet Sercos cycle time If operatin...

Page 218: ...need the motor to run with a constant speed of 1200 RPM So V_SOLL 1200 2 77 433 cnt smp 2 Set the needed acceleration A_SOLL A x 271 RPM s Ex We need the motor to accelerate with 100000 RPM s so A_SOLL 100000 271 369 cnt smp 3 Now set the motor into velocity mode and thereby activate the motor Ex The motor needs to be activated by setting it into velocity mode so we need to set the mode register t...

Page 219: ...on the motor will stop and the cause will be present in the register 35 and hence in the I O data This register also holds information on the motion status such as In position bit 4 Accelerating bit 5 Decelerating bit 6 Please find a complete list of register descriptions in the appendix Motor registers MAC050 141 page 264 and Motor registers MAC400 4500 page 273 The JVL motor is basically put int...

Page 220: ...c I O some preconditions have to be met Zero search position zero search velocity and zero search torque torque only for MAC motors has to be set in MacTalk in the Main tab and saved in flash in the motor once and for all Startup mode should be set to position for the motor to stay in position after the homing sequence And this setting should also be saved in flash TT3083GB TT3084GB ...

Page 221: ... only zero search mode 14 Forward backward zero search mode only MAC motors 25 Enc index only MAC400 26 Enc quick index only MAC400 For a comprehensive description of the hom ing modes refer to the general MAC motor manual LB0047 xxGB or the MIS MIL motor manual LB0058 xxGB Can be found at www jvl dk Observe that the Actual_Mode is changing to the homing mode Now the module is blocking cyclic writ...

Page 222: ... 983040 in MacTalk 4 Make sure one net cycle has passed so command is interpreted by the motor 5 Set module command register to zero This will prepare the Ethernet module for new commands 6 If needed then monitor register 35 Error status When bit 4 is set in position then the move is finished 7 When a new relative move is requested go to step 3 You may also have the P7 register in the cyclic write...

Page 223: ...le command register 2 Make sure one net cycle has passed so command is interpreted by the motor 3 Send the command value 4 Write 0 zero to the mapped variable in the PLC project which points to the Sercos module command register This will prepare the Sercos module for new com mands 8 6 8 Change of cyclic data setup from master via service channel FSP IO JVL Profile Besides changing the cyclic data...

Page 224: ...224 JVL Industri Elektronik A S User Manual Ethernet for MAC and MIS motors ...

Page 225: ...JVL Industri Elektronik A S User Manual Ethernet for MAC and MIS motors 225 9 Module Registers ...

Page 226: ...in Cyclic Read word position 4 20 UNSIGNED32 35 Register no to place in Cyclic Read word position 5 21 UNSIGNED32 Register no to place in Cyclic Read word position 6 22 UNSIGNED32 Register no to place in Cyclic Read word position 7 23 UNSIGNED32 Register no to place in Cyclic Read word position 8 24 UNSIGNED32 2 Register no to place in Cyclic Write word position 1 25 UNSIGNED32 3 Register no to pl...

Page 227: ...Fixed Bit 16 31 0 15 Output Reserved 16 Most significant bits of MAC address Bit 0 31 Output 32 Least significant bits of MAC address Protocol Bit 24 31 16 23 8 15 0 7 Notes EthernetIP ModbusTCP 0 255 0 255 0 255 1 254 Sercos III 0 255 0 255 0 255 1 254 EtherCAT Setup in the PLC project Only used for EoE Profinet 0 255 0 255 0 255 1 254 Only powerup default Are usually changed by the PLC later Pow...

Page 228: ...ive 0 Endless relative disabled 1 Endless relative enabled If relative mode is selected in the control word then the actual position never chang es When selecting this mode absolute positioning can no longer be used This bit only applies for DSP 402 profile Bit 5 Mirror registers 0 No mirror of module registers 1 Enable mirror of module registers to start address 0x300 Only applicable to the Modbu...

Page 229: ... 0 No output mirror 1 Enable mirror of module outputs from motor error register bit 30 31 Bit 9 Input mirror 0 No input mirror 1 Enable mirror of module inputs to motor register 210 bit 2 5 Bit 10 DHCP enable 0 DHCP disabled 1 Enable of DHCP in module Only applicable to Ethernet IP and ModbusTCP protocols Factory default ...

Page 230: ...pdated every 20ms Only applicable for EtherCAT in MAC050 141 Only read at power up or after reset So in order to change the value first change this value then issue a save in flash com mand then reset the module 9 2 9 Register 9 Station alias node number Only applicable to EtherCAT With this object a station alias node number is set manually Only read at power up or after reset So in order to chan...

Page 231: ...ed in module flash 9 2 13 Register 15 Command register This object is used for sending commands to the module and is write only Use this register instead of the MAC MIS MIL motor command register when used cy clic to make sure that commands are only executed once If this register is placed in the cyclic list and it is requested to execute the same command more than once then it is required to send...

Page 232: ...e parameters to flash Same as Same as 0x 0000 0011 17 Flash with power LED for 120 seconds Only applicable for MAC motors For MIS MIL motors use commands specific for MIS MIL Same as Same as 0x 0000 0012 18 Restore factory defaults Same as Same as 0x 0000 0013 19 Copy Sync0 pulse to Out1 Same as No operation 0x 0000 0014 20 Remove Sync0 from Out1 Same as No operation Synchronized commands 0x 0000 ...

Page 233: ...51 Reserved Same as 0x0100 00EC 16777452 Activate P1 V1 A1 T1 L1 Z1 Same as 0x0100 00ED 16777453 Activate P2 V2 A2 T2 L2 Z2 Same as 0x0100 00EE 16777454 Activate P3 V3 A3 T3 L3 Z3 Same as 0x0100 00EF 16777455 Activate P4 V4 A4 T4 L4 Z4 Same as 0x0100 00F0 16777456 Start search zero Same as 0x0100 00F1 16777457 P_SOLL P_IST P7 P_SOLL P_IST P7 FLWERR 0x0100 00F2 16777458 P_SOLL P_IST P8 P_SOLL P_IST...

Page 234: ...3884 Activate P1 V1 A1 T1 L1 Z1 Same as 0x8000 00ED 2147483885 Activate P2 V2 A2 T2 L2 Z2 Same as 0x8000 00EE 2147483886 Activate P3 V3 A3 T3 L3 Z3 Same as 0x8000 00EF 2147483887 Activate P4 V4 A4 T4 L4 Z4 Same as 0x8000 00F0 2147483888 Start search zero Same as 0x8000 00F1 2147483889 P_SOLL P_IST P7 P_SOLL P_IST P7 FLWERR 0x8000 00F2 2147483890 P_SOLL P_IST P8 P_SOLL P_IST P8 FLWERR 0x8000 00F3 2...

Page 235: ...P4 V4 A4 T4 0x0100 0070 16777328 Start zero search 0x0100 0071 16777329 P_SOLL P_IST P7 0x0100 0072 16777330 P_SOLL P_IST P8 0x0100 0073 16777331 No operation 0x0100 0074 16777332 Select absolute position mode 0x0100 0075 16777333 Select relative position mode 0x0100 0076 16777334 Reserved do not use 0x0100 0077 16777335 Copy P_NEW to both P_SOLL and P_IST 0x0100 0078 16777336 Add P_NEW to both P_...

Page 236: ...A4 T4 0x8000 0070 2147483760 Start zero search 0x8000 0071 2147483761 P_SOLL P_IST P7 0x8000 0072 2147483762 P_SOLL P_IST P8 0x8000 0073 2147483763 No operation 0x8000 0074 2147483764 Select absolute position mode 0x8000 0075 2147483765 Select relative position mode 0x8000 0076 2147483766 Reserved do not use 0x8000 0077 2147483767 Copy P_NEW to both P_SOLL and P_IST 0x8000 0078 2147483768 Add P_NE...

Page 237: ... 32 38 These registers contain HW SW and communication information of the module 9 2 17 Register 39 CRC error count on SPI This register reflects the no of CRC errors that have occurred on the internal SPI com munication with the motor since power up 9 2 18 Register 47 Digital inputs on module Only applicable for MAC00 Ex4 Ex41 With this object the status of the 4 digital inputs can be read The av...

Page 238: ...Distributed Clocks enabled Only aplicable to EtherCAT Bit 11 UDP Mactalk MacTalk connected via UDP Bit 12 RS232 MacTalk MacTalk connected via RS232 Bit 13 SYNC_ERROR PLL synchronization error in motor Bit 14 NL_ERROR Negative limit switch activated Bit 15 PL_ERROR Positive limit switch activated 9 2 20 Register 49 Current protocol type installed in Ethernet module 0x34 EthernetIP 0x35 EtherCAT 0x3...

Page 239: ...JVL Industri Elektronik A S User Manual Ethernet for MAC and MIS motors 239 10 Using MacTalk over Ethernet ...

Page 240: ...er the Ethernet channel are only possible if the Ethernet module firmware build number are higher than 1400 And only with a Mactalk version of 1 70 27 or newer And if using MIS MILxxx motors it also requires the MIS MIL motor version to be 4 01 073 or higher See also How to find FW HW version at product page 13 eRxP programming over Ethernet is only possible with MIS MIL motors or with Ethernet mo...

Page 241: ...JVL Industri Elektronik A S User Manual Ethernet for MAC and MIS motors 241 ...

Page 242: ...orks equipment end network connected However a brief description on how to configure the IP address manually is discussed This method is necessary if the motor is connected directly to the Ethernet port in the PC or if the network isn t capable of assigning IP addresses to connected equipment automatically NOTE With laptops or desktops with more than one network card ie a wireless one it can be ne...

Page 243: ...for the PC to receive the settings from a server such as a DHCP server or similar Since the motor doesn t offer any DHCP service it is necessary to setup the IP address in the PC manually Please note that this is taken from Windows 7 but the method is basically the same for other Windows version To reach the IP settings please follow this path Step 1 Press the LAN Connection and press the Properti...

Page 244: ... subnet mask and gateway Step 3 Select Use the following and enter a valid configuration similar to the one below The above example is a basic settings that sets the IP address on the PC to 192 168 0 59 subnet mask to 255 255 255 0 and the gateway to 1 1 1 1 Now the PC is configured for a fixed IP address and is ready to establish the connection to the motor TT3072 01GB Press Properties Press Prop...

Page 245: ...llustration below The IP addresses shown on the figure is just an example of a working configuration The EtherCAT master needs to be setup to act as a router between Mactalk and the slaves on the EtherCAT network The EtherCAT master has to be setup first to know what to setup in the Mactalk PC and in the JVL motor slaves Below is shown the steps for configuring a Beckhoff TwinCAT master to route n...

Page 246: ...orking correctly with EoE Please follow the steps shown below Step 4 Check the IP Enable Router in the EoE support If not already checked then a reboot of the EtherCAT master is necessary Step 5 Find the IP addresses of the interfaces in the EtherCAT master If necessary then change them to something suitable beyond the scope of this manual TT3107 01GB TT3108 01GB ...

Page 247: ...ask and the default Gateway is suitable IP address have to be same subnet as the EtherCAT interface on the EtherCAT master the Default gateway have to be exactly the IP address of the EtherCAT interface on the Eth erCAT master When there is a router as is necessary in EtherCAT in between Mactalk and the mo tor the Mactalk PC has to be setup so it knows the IP address of the router to use So setup ...

Page 248: ...on stepwise first Open a command prompt on the Mactalk PC by pressing start and then run Then enter cmd and press OK In the command prompt first try to ping the Ethernet interface on the TwinCAT master by entering its IP address for example ping 172 16 17 1 Replace IP with the TwinCAT master Ethernet inter face address from your system Next ping the EtherCAT interface on the EtherCAT master by ent...

Page 249: ...ction To change this please find the address box next to the COM scan in the upper tool bar and change it from All to Eth Step 1 Select the Ethernet port used for communication to the PLC motors as shown below Step 2 After changing the the Address box the IP address input field appears Step 3 Now MacTalk is ready to connect to the motor and the next step is to enter the IP ad dress of the motor to...

Page 250: ...ddress is entered MacTalk offers the possibility to sign in the IP address and assign an alias name to this IP address which is stored and later be shown in the address field instead of remembering the IP address of the motor This greatly helps managing multiple motors in a network instead of handling all the anonymous IP addresses Step 6 The following dialog appears when a new address is entered ...

Page 251: ...irectly in the list Please note that both the IP address and the name is added to the list and saved The list is load ed automatically when MacTalk is started Step 9 Add a name to the list in the field next to the IP address and press Ok Now the list is saved The name entered can now be used to access the motor on the network The complete list can be cleared by pressing Clear list or a single enty...

Page 252: ...252 JVL Industri Elektronik A S User Manual Ethernet for MAC and MIS motors ...

Page 253: ...JVL Industri Elektronik A S User Manual Ethernet for MAC and MIS motors 253 11 Examples common to all protocols ...

Page 254: ...Ex4 are as default accessible from the PLC by writing and reading to from the module registers 7 and 47 Please refer to chapter 8 for further details If it is required to use the digital module I O s in embedded RxP eRxP integrated se quential PLC then this functionality has to be enabled first This is either done by manually manipulating the bits 7 9 in the module setup bits register module reg 6...

Page 255: ...e command register it is only sent to the motor once for every change of value Procedure for setup In cyclic data setup in Mactalk in the Ethernet tab select register 983040 General com mand This is the module command register Remember that there must not be any motor register after a module register in the cyclic list s Press the Apply and save but ton See picture below Procedure for using When a...

Page 256: ...256 JVL Industri Elektronik A S User Manual Ethernet for MAC and MIS motors ...

Page 257: ...JVL Industri Elektronik A S User Manual Ethernet for MAC and MIS motors 257 12 Appendix ...

Page 258: ...puts Input impedance 4 7k Input current 24V 5 1mA Digital output current HW rev Up to 1 2 10mA Digital output current HW rev from 1 3 15mA 12 1 2 EtherCAT for MAC or MIS Technical specifications Galvanic isolated 100MBit full duplex 100Base Tx no termination necessary Network topology Line Star Tree Ring line recommended Pass through delay 1μs Supported Protocols SDO client and server side protoco...

Page 259: ...P Ethernet Powerlink version V2 Max 100 m cable between slaves Maximum number of slaves CN s per segment 239 Connectors only applicable to MAC00 ELx PWR power M12 connector 5pin male I O M12 connector 8pin female L A IN and L A OUT Ethernet M12 connector 4pin D coded female Supply only applicable to MAC00 ELx Supply voltage CV 12 48VDC Nominal absolute max 50V Current rating 24V DC CV typical 150m...

Page 260: ...very Protocol RTA Real time Acyclic Protocol RTC Real time Cyclic Protocol Class 1 SNMP Simple Network Management Protocol MRP MRP Client is supported Max 100 m cable between slaves Connectors only applicable to MAC00 EPx PWR power M12 connector 5pin male I O M12 connector 8pin female L A IN and L A OUT Ethernet M12 connector 4pin D coded female Supply only applicable to MAC00 EPx Supply voltage C...

Page 261: ...minal absolute max 50V Current rating 24V DC CV typical 150mA max 250mA User I O only applicable to MAC00 EMx Digital input impedance 4 7k Digital input current 24V 5 1mA Digital output current HW rev Up to 1 2 10mA Digital output current HW rev from 1 3 15mA 12 1 6 Sercos for MAC and MIS motors Technical specifications Galvanic isolated 100MBit full duplex 100Base Tx no termination necessary Netw...

Page 262: ...rofile 32 byte cyclic data in each direction max 8 registers FSP_DRIVE Only in MAC400 MAC4500 and MIS17x 23x 34x 43x 48 byte cyclic data in each direction max 16 producer IDN s and 5 consumer IDN s Position mode Velocity mode Pack Profile Sercos Drive Pack profile Basic A Pack profile Basic B Pack Profile Extended partly Drive controlled homing Probing Function Only with MAC400 MAC4500 motors Supp...

Page 263: ...upported Generic Device Profile classes GDP_Basic GDP_PWD IDN Password protection GDP_DiagT Diagnostic Trace GDP_Id Identification GDP_PrBBasic Probes capture Only with MAC400 MAC4500 motors 50μs resolution 2 5μs jitter Single measuring and position probing GDP_BKP IDN Backup GDP_StM State Machine ...

Page 264: ... 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 tim...

Page 265: ...is register after a zero search operation has completed 11 high word of P_IST 12 V_IST Actual velocity of the drive 13 KVOUT Load factor Ratio of the total inertia driven by the drive to the inertia of the motors rotor itself 14 GEARF1 Gear factor 1 Nominator 15 GEARF2 Gear factor 2 Denominator 16 I2T Energy dissipated in the motor windings 17 I2TLIM Safety limit for I2T above Motor will set an er...

Page 266: ...f Reg24 FNCERR exceeded the value of Reg26 FNCERRMAX Bit 3 UIT_ERR The value of Reg18 UIT exceeded the value of Reg19 UITLIM Bit 4 IN_POS For position related modes The actual position was detected to be inside the InPosition window Reg33 INPOSWIN at least the number of times defined in Reg34 INPOSCNT For other modes Depends on mode for velocity related modes this bit means AtVelocity for other mo...

Page 267: ...Reg8 P_FNC is added to the target register s to make a relative movement Bit 11 IX_ERR The current in at least one of the motor windings was measured to be too high possibly because of bad current loop filter settings Values for the current filter have been overwritten with default values Specifically registers 106 through 111 127 and 128 Bit 12 UV_ERR The motor power supply voltage Reg151 U_SUPPL...

Page 268: ...y 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 ...

Page 269: ... KVFY2 99 KVFY1 100 KVFY0 101 GEARB 102 KVB3 103 KVB2 104 KVB1 105 KVB0 106 KIFX2 107 KIFX1 108 KIFY1 109 KIFY0 110 KIB1 111 KIB0 112 SAMPLE1 113 SAMPLE2 114 SAMPLE3 115 SAMPLE4 116 REC_CNT 117 FNC_OUT 118 FF_OUT 119 VB_OUT 120 V_EXT Velocity of external encoder Pulse In in counts per sample 121 VF_OUT 122 ANINP 123 ANINP_OFFSET 124 ELDEGN_OFFSET 125 ELDEGP_OFFSET 126 PHASE_COMP 127 AMPLITUDE 128 ...

Page 270: ... CHECKSUM 32 bit 159 hi word of CHECKSUM 160 UV_HANDLE Bit 0 SET_UV_ERR Bit 1 UV_GO_PASSIVE Bit 2 unused Bit 3 UV_VSOLL0 161 INV_OUTPUT Bit 0 INV_INPOSOUT Bit 1 INV_ERROROUT Bit 2 INVROTDIR Bit 3 O1USERCTRL Bit 4 O2USERCTRL 162 INDEX_OFFSET 163 P_NEW 32 bit 164 hi word of P_NEW 165 FILTERID 32 bit 166 hi word of FILTERID 167 HARDWARELIM Bit 0 HW_PLIM_NEG Bit 1 HW_PLIM_POS Bit 2 HW_PLIM_IN1 Bit 3 H...

Page 271: ...col to run on the RS422 lines that can be used for Pulse In Pulse Out or Serial Data The selection in this register is used only if the lowest two bits in Reg36 CNTRL_BITS are set to Serial Data Values of Reg182 UART1_SETUP 0 Autodetect incoming 1 Megabit Modbus telegrams for a few seconds after startup Stay in Modbus if any valid Modbus telegrams detected else switch to 19200 baud FastMac and sta...

Page 272: ...r future purposes 223 Reserved for future purposes 224 Reserved for future purposes 225 Reserved for future purposes 226 Reserved for future purposes 227 Reserved for future purposes 228 Reserved for future purposes 229 Reserved for future purposes 230 Reserved for future purposes 231 Reserved for future purposes 232 Reserved for future purposes 233 Reserved for future purposes 234 Reserved for fu...

Page 273: ...ll 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 vio...

Page 274: ... 0 1023 1023 300 Word RW The maximum torque that the drive is allowed to use The value 1023 corresponds to 300 of nominal load and is the absolute maximum peak torque allowed The value 341 gives 100 nominal load 8 P_FNC Word RW Encoder counts 9 INDEX_OFFSET not present Word RW Encoder counts Updated after a Zero Search to show at what single turn encoder position the zero point was detected This i...

Page 275: ...ltage measured 22 FLWERRMAX Na 0 Word RW Encoder counts When Reg20 FLWERR exceeds this limit bit 1 FLW_ERR in Reg35 ERR_STAT is set and the motor will stop if Reg22 is non zero Usually this value is set experimentally to detect situations where a movement is blocked or fails 23 UV_HANDLE Set error bit Go to passive Set velocity to 0 Na 0 Word RW Bits to determine what will happen when the main sup...

Page 276: ...been measured INPOSCNT consecutive times to be within INPOSWIN counts sample before the InPosition bit is set in Reg35 ERR_STAT 34 INPOSCNT not present Na 3 Word RW The number of consecutive times the In Position condition must have been met before the InPosition bit is set in ERR_STAT See description above for INPOSWIN 35 ERR_STAT not present Na 0 Word RW Bit 0 I2T_ERR Set when the calculated the...

Page 277: ...00 and MAC800 or 1000 V DC for MAC1500 and MAC3000 or 54 V DC for MAC402 Overvoltage often comes when the motor is braking a large inertia and the internal or external power dump brake resistor can no longer accumulate the energy It can also come from connecting a too high AC or DC supply voltage perhaps by connecting 230VAC to the 120 VAC input on MAC400 Bit 12 IPEAK_ERR A much too high current w...

Page 278: ...odule for more than 100 ms Bit 23 SLAVE_ERR One or more error bits were set in an ERR_STAT reading from the Modbus slave or COMM_ERR Bit 24 ANY_ERR single bit to make easier on PLCs to chefkc if the motor has any error bits set Reflect the logical operation of ERR_STAT and ALL_ERROR_BITS different from zero Bit 25 INIT_ERR Set if error was detected during motor startup that could prevent reliable ...

Page 279: ... P8 register is added to the target position register Reg3 P_SOLL If RELPOSPFNC is set the value of the selected P1 P8 is added to an internal variable that will generate the movement leaving P_SOLL unchanged This is used for endless relative movements since it will not cause any overflow of the target position but note that the actual position will wrap around at 2 31 2 147 483 648 counts without...

Page 280: ...to using the regular T_SOLL 42 HOME_MODE not present Na 0 Word RW Defines if the motor should start a zero search immediately after start up as well as the type of zero search to perform when a FastMac command is received Bits 7 0 define the zero search mode the motor should start up in If this value is zero the motor will not perform a zero search at startup but will start up in the mode selected...

Page 281: ...esent Na 0 Word RW 63 POS7 Position8 P8 Na 0 Word RW 64 CAPCOM7 not present Na 0 Word RW 65 VEL0 Velocity 1 V1 Na 277 100RPM Word RW Velocity register V1 Used with the fastmac protocol or by the MAC00 R1 3 4 nanoPLC module See also V_SOLL register 5 which have the same scaling 66 VEL1 Velocity 2 V2 Na 277 100RPM Word RW Velocity register V8 see also register 65 67 VEL2 Velocity 3 V3 Na 277 100RPM ...

Page 282: ... Na 0 Word RW 82 LOAD1 Load 2 L2 Na 0 Word RW 83 LOAD2 Load 3 L3 Na 0 Word RW 84 LOAD3 Load 4 L4 Na 0 Word RW 85 ZERO0 not present Na 0 Word RW 86 ZERO1 not present Na 0 Word RW 87 ZERO2 not present Na 0 Word RW 88 ZERO3 not present Na 0 Word RW 89 MODE0 not present Na 0 Word RW 90 MODE1 not present Na 0 Word RW 91 MODE2 not present Na 0 Word RW 92 MODE3 not present Na 0 Word RW 93 HWI0 not presen...

Page 283: ...ut State no copying will happen so the target register will not be modified by the digital input The 12 HWI functions are executed every 1 3 ms in the order from HWI0 to HWI11 NO other operations happen in between regardless of communications and other parallel operations It is therefore safe to rely on stable register values and consistent digital input values during the execution of the 12 HWI f...

Page 284: ... below while bits 7 0 show the status of the digital inputs from the MAC00 B41 module Be aware that bits 15 0 in Reg215 IO_POLARITY can be set to invert the value of the corresponding bits 15 0 in this register Bits 15 12 show the values of the four RS 422 signals These are intended mostly for serial communications to some modules or to use Modbus RS485 but they can be used as digital inputs provi...

Page 285: ...the hardware 114 MAC00_9 B41_DOSTATUS I O management Na 0 Word RW Shows the status of each of the six digital outputs actually written to the hardware This value will be Reg113 possibly modified by Regs115 120 and finally possibly having some bits inverted by Reg215 115 MAC00_10 B41_CONF0 not present Na 0 Word RW Controls IO1 on MAC00 B41 bit 0 in B41_DO Each of the B41_CONF5 CONF0 registers can b...

Page 286: ...a 0 Word RW 130 KVFX3 not present Na 0 Word RW 131 KVFX2 not present Na 0 Word RW 132 KVFX1 not present Na 0 Word RW 133 KVFY5 not present Na 0 Word RW 134 KVFY4 not present Na 0 Word RW 135 KVFY3 not present Na 0 Word RW 136 KVFY2 not present Na 0 Word RW 137 KVFY1 not present Na 0 Word RW 138 KVFY not present Na 0 Word RW 139 KVB4 not present Na 0 Word RW 140 KVB3 not present Na 0 Word RW 141 KV...

Page 287: ...ss the motor is in Passive mode MODE_REG 0 157 OUTLOOPDIV not present Na 0 Word RW Divider value for the velocity loop With the standard value of 1 the velocity loop is recalculated every 1 3 ms With a value of 2 the loop is recalculated every 2 6 ms which can give better performance for slow movements and or large inertia It is absolutely necessary to use a different set of filters in Regs121 142...

Page 288: ...information on the sample system 163 V_EXT not present Na 0 Word R Unscaled Raw velocity of external encoder input in pulses per 1 3ms 164 GV_EXT not present Na 0 Word R Velocity of external encoder input V_EXT after being scaled by the ratio GEARF1 GEARF2 165 G_FNC not present Na 0 Word R 166 FNC_OUT not present Na 0 Word R 167 FF_OUT not present Na 0 Word R 168 VB_OUT not present Na 0 Word R 169...

Page 289: ...nt Na 0 Word R used with motor current loop 191 V_ELDEG not present Na 0 Word R used with motor current loop 192 UA_VAL not present Na 0 Word R used with motor current loop 193 UB_VAL not present Na 0 Word R used with motor current loop 194 UC_VAL not present Na 0 Word R used with motor current loop 195 EMK_A not present Na 0 Word R used with motor current loop 196 EMK_B not present Na 0 Word R us...

Page 290: ... hardware The remaining bits are reserved 206 CHKSUM not present Na 0 Word R Value read from factory flash memory to show the checksums of the firmware and the bootloader 207 USEROUTVAL not present Na 0 Word RW The values of bits 1 0 are output to the standard InPosition and ErrorOut hardware signals if the corresponding bits 9 8 USER_INPOS and USER_ERROR in Reg39 HW_SETUP are set 208 COMM_ERRS no...

Page 291: ... Na 0 Word RW The full multi turn position read directly from the absolute encoder if mounted 227 AIFILT_MAXSLOPE not present Na 0 Word RW 228 AIFILT_FILTFACT not present Na 0 Word RW 229 P_QUICK N A Na 0 Word RW The actual position of the internal encoder Much like P_IST but updated every 100us P_IST is updated only once every 1 3ms or 2 6 ms for OUTLOOPDIV 2 230 XREG_ADDR not present Na 0 Word R...

Page 292: ...otor stops or changes direction Acceleration 7 RUN_ CURRENT 32bit R W 0 1533 511 C 5 87 mA B 3 91 mA A 1 96 mA Current to use when the motor is running The unit depends on the driver C 9 A B 6 A A 3 A Running Current 8 STANDBY_ TIME 32bit R W 1 65535 500 ms Number of milliseconds before changing to standby current Standby Time 9 STANDBY_ CURRENT 32bit R W 0 1533 128 C 5 87 mA B 3 91 mA A 1 96 mA T...

Page 293: ...brated ready for closed loop Bit 18 Standby current is used Bit 19 External memory ok Bit 20 Internal encoder ok Bit 21 Ethernet sync activated Bit 22 In target position Bit 23 STO channel A ok Bit 24 STO channel B ok Bit 25 31 Reserved Run Status 26 TEMP 32bit R 2 27 uses offset Temperature measured inside the motor See the detailed description for information on the value scaling Temperature 28 ...

Page 294: ...coder Bit 8 Driver overload Warnings 37 STARTMODE 32bit R W 0 1 2 3 0 The motor will change to this mode after power up This is also the mode that is used after a zero search is completed See MODE_REG for a list of possible modes Startup mode 38 P_HOME 32bit R W 231 231 1 0 Steps The found zero point is offset with this value Zero search position 39 Reserved intended for 64 bit P_HOME hi word 40 V...

Page 295: ...he ConfMin Max MaxSlope and Filter registers Bit 15 Set when values have been copied and used N A handled on the Filter Setup screen 101 AFZUP_ ReadIndex 32bit R W 0 1 8 32768 32775 0 Special Bits 0 7 Index 1 8 of the analog input whose ConfMin Max MaxSlope and filter values to load into the corresponding AFZUO_xxx registers for read back Bit 15 gets set after the registers have been updated N A h...

Page 296: ...t R W 0 Special Bits to control Zero Search Bit 0 Search for index Bit 1 Change direction on limit Bit 2 Search for opposite side of sensor Bit 3 Reserved Bit 4 Ignore switch Used for searching only for index Bit 5 Disable the 60 s Zero Search time out Advanced Zero search 124 SETUP_BITS 32bit R W 0 Special Bit 0 Invert motor direction Bit 1 Don t start program after power up Bit 2 3 External enco...

Page 297: ...puts Error 139 ACCEPT_VOLTAGE 32 bit R W 2052 8 764 mV The voltage that must be measured before the current status log is erased Acceptance voltage 140 ACCEPT_COUNT 32 bit R W 100 Counts The number of times the ACCEPT_VOLTAGE must be measured before starting the processor Acceptance count 141 SAVE_VOLTAGE 32 bit R W 1710 8 764 mV The voltage that determines how low the CVI can be before shut down ...

Page 298: ...nt to the motor N A 159 BOOTLOADER_VER 32bit R 0 65535 Major 16 Minor The version of the boot loader Tooltip on motor 160 NOTSAVED 32bit R W 0 65535 0 This register is not used internally but will always be 0 after power on Please notice that MacTalk uses this register N A 165 OPTIONS_ BITS 32bit R 0 65535 This register contains information about what options that are available Bit 0 7 defines the...

Page 299: ... W 0 232 1 10 ms Time the motor must stand still before InTargetPosition flag is set N A 179 BRAKE 32bit R W 0 232 1 Special Selects which one of the eight I O pins to use for the external brake N A Reg Name Size Access Range Default Unit Description MacTalk name The following parameters are only available when the CanOpen option is installed and only used for DSP 402 NOTE DSP 402 is NOT supported...

Page 300: ...its in total N A 232 FlexLEDSetup1 32bit R W 0 Sets up LED L3 and L2 on the motor N A 233 FlexLEDSetup2 32bit R W 0 Sets up LED L1 GREEN and L1 RED on the motor N A 236 V_SOLL_AUTO 32bit R W 300 000 300 000 0 0 01 RPM In position mode the auto correction is run with V_SOLL but if V_SOLL_AUTO 0 it will be used in stead Auto correction velocity 237 V_IST_CALC 32bit R 300 000 300 000 0 0 01 RPM The t...

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