JVL MAC00-EC4, User Manual

Page: 124 / 300

124 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors
5.4 Ethernet POWERLINK objects
5.4.1 Process data objects
PDO's (Process Data Objects) are used for cyclic transfer of time-critical process data
between master and slaves. Tx PDOs are used to transfer data from the slave to the mas-
ter and Rx PDOs to transfer data from the master to the slave.
PDO 21
PDO 21 is fully user configurable. There is one receive PDO and one transmit PDO.
It is possibly to set up five, 32 bit registers in each direction.
The setup is done with MacTalk or via SDO object 0x2011 subindex 16-31. It requires a
save in flash and a power cycle before the new configuration are used. If the configuration
of the PDO's, is not altered by the user, the MAC00-ELx uses the default mapping shown
in the tables below.
If module registers 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 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 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
Register Overview, page 226 .
Default registers in receive PDO 21 (Master > Slave)
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.
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
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
3 7 T_SOLL Maximum torque
4 - - -
!