JVL MAC00-EC4, User Manual

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146 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors
6.3 PROFINET objects
6.3.1 Process data
Process Data (PZD) are used for cyclic transfer of time-critical process data between
master and slaves, such as position, velocity, torque etc. Transmit PZD are used to trans-
fer data from the slave to the master and receive PZD to transfer data from the master
to the slave.
The JVL process data is fully user configurable. It is possibly to set up eight, 32 bit regis-
ters in each direction. The setup is done with MacTalk or via parameter object 0x11 sub-
index 16-31. It requires a save in flash and a power cycle before the new configuration
are used. If the configuration of the PZD, is not altered by the user, the JVL PROFINET
module uses the default mapping shown in the tables below. It is mandatory to have the
error/status register (register 35) as one of the slave to master registers. If not the motor
will overrule the configuration and place register 35 anyway.
If module registers is placed in cyclic R/W, then the register number has to be calculated
as follows:
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
Register number = 65536 x sub index.
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Example: module command (sub-index 15) = 65536 x 15 = register 983040

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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 released, which makes much faster cycle
times possibly. Please see next paragraph.
Default registers in transmit PZD (Slave > Master) - Only MAC-EPx
The motor registers 35, 36, and 211 should NOT be inserted in the cyclic write list, as
this may give unpredictable results. For 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 Over-
view, page 226 .
Continued next page
Object index Register no. Motor register short Motor register description
0 2 MODE_REG Operating mode
1 10 P_IST Actual position
2 12 V_IST Actual velocity
3 169 VF_OUT Actual torque
4 35 ERR_STAT Status bits
5 - - -
6 - - -
7 - - -