JVL MAC00-EC4, Руководство пользователя

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JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 45
3.4 EtherCAT® objects
3.4.1 Process Data Object (PDO/JVL Profile)
PDO's (Process Data Objects) are used for cyclic transfer of time-critical process data
between master and slaves. There is one receive PDO and one transmit PDO which is
fully user configurable. Tx PDOs are used to transfer data from the slave to the master
and Rx PDOs to transfer data from the master to the slave.It is possibly to set up five or
eight, 32 bit registers in each PDO, depending on the configuration ( Register 6 - Setup
bits, page 228 ).
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-EC4/-EC41 module 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:
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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 PDO (Slave > Master) - Only MAC-ECx
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 - - -