LB0056-12GB

LB0056-12GB
MAC00-EC4, MAC00-EI4
&
MAC00EL4
Industrial Ethernet
expansion modules for
MAC Servo Motors
User Manual
0
TT30
0G B
JVL Industri Elektronik A/S
LB0056-12GB
Revised 10.8.2011
Important
User Information
!
Warning
!
The MAC series of products are used to control electrical and
mechanical components of motion control systems.
You should test your motion system for safety under all potential
conditions. Failure to do so can result in damage to equipment
and/or serious injury to personnel.
Please contact your nearest JVL representative in case of technical assistance. Your nearest contact can be found on our web site www.jvl.dk
Copyright 2010-2011, JVL Industri Elektronik A/S. All rights reserved.
This user manual must not be reproduced in any form without prior written
permission of JVL Industri Elektronik A/S.
JVL Industri Elektronik A/S reserves the right to make changes to information contained in this 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
Blokken 42
DK-3460 Birkerød
Denmark
Tlf. +45 45 82 44 40
Fax. +45 45 82 55 50
e-mail: [email protected]
Internet: http://www.jvl.dk
CANopen®
Is a registered trademark of CAN in AUTOMATION - International Users and
Manufacturers Group e. V. (CiA), Nürnberg.
DeviceNet®
Is a trademark of ODVA (Open DeviceNet Vendor Association, Inc).
EtherCAT®
Is a registered trademark and a patented technology of Beckhoff Automation
GmbH, Verl, Bundesrepublik Deutschland, formerly Elektro Beckhoff GmbH.
EtherNet/IP®
Is a trademark of ODVA (Open DeviceNet Vendor Association, Inc).
Modbus®
Is a registered trademark of Schneider Electric.
PROFINET
Is a registered trademark of PROFIBUS International, Karlsruhe.
SERCOS interface® Is a registered trademark of SERCOS International e.V., Suessen, Germany.
Contents
1 Introduction .................................................................... 7
1.1 Introduction ...............................................................................8
1.2 Hardware introduction ..............................................................9
2 General Hardware description ..................................... 11
2.1
2.2
2.3
2.4
Module types ............................................................................12
I/O descriptions ........................................................................15
Connector description .............................................................19
Cable accessories .....................................................................21
3 MAC00-EC4 EtherCAT® module ................................ 23
3.1
3.2
3.3
3.4
Introduction to EtherCAT® ....................................................24
Protocol specifications .............................................................26
Commisioning ..........................................................................29
EtherCAT® objects .................................................................33
4 MAC00-EI4 EthernetIP module ................................... 39
4.1
4.2
4.3
4.4
4.5
4.6
4.7
4.8
4.9
Introduction to EthernetIP .......................................................40
Using non cyclic messages ........................................................42
Using cyclic messages I/O-messages ........................................44
Commissioning .........................................................................45
Examples ..................................................................................47
Configuration using different methods .....................................49
Using and Selecting an Ethernet switch ...................................52
Objects accessible using Explicit messages ..............................53
Examples of applications ..........................................................56
5 MAC00-EL4 POWERLINK® module ............................ 65
5.1
5.2
5.3
5.4
5.5
5.6
5.7
Introduction to POWERLINK® ...............................................66
Protocol specifications .............................................................69
Commisioning ..........................................................................73
Ethernet POWERLINK objects ................................................76
Network Management Services ...............................................82
XML Device Description File ...................................................83
Examples ..................................................................................84
6 Appendix ....................................................................... 87
6.1 Technical Data .........................................................................88
6.2 Motor registers ........................................................................ 89
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
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6
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
1
Introduction
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
7
1.1
Introduction
TT3001GB
Industrial Ethernet is becoming more and more
popular as it offers
• Very fast response time
• Predictable delay times (deterministic protocol)
• Safe transmission of data
Compared with most of the “classic” non Ethernet based protocols the indstrial Ethernet offers
state of the art performance.
The MAC00-Ex4 Industrial Ethernet module can
be configured by the end user to a number of different Ethernet protocols, for instance
• EtherCAT
• EtherNetIP
• Ethernet POWERLINK
• More to come
8
Main Features:
• High speed communication - 100Mbits/sec.
• 2 individual ports on the module offers Daisy
chaining possibility.
• Standard M12 circular industrial connectors
• 1 Digital input (24V) and 1 digital output
(24V) for local use around the motor
• Multiple alternative I/O possibilities available
on request (OEM applications)
• LED’s for easy monitoring of operation status
• Optional encoder I/O
• Rough design
• Access to all internal motor parameters and
registers possible. No need of pre-setup of
the motor.
• RS232 connection available for monitoring
and setup use if desired.
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
Secondary
EtherNet
Interface
M12 female
connector
3
“I/O”
5
4
1
1
1
7
6
1
8
4
4
5
2
2
2
3
3
4
3
Digital inputs and outputs
Voltage range 5-28 (32)V
P-
2
O1
IO-
IN1
O+
Rx
Tx
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
Isolation zone 4
Tx1N
Tx1P
Rx1N
Rx1P
Isolation zone 3
Tx0N
Tx0P
Rx0N
Rx0P
4 Inputs
See note1
2 Outputs
See note1
incl
8Mb RAM
4Mb Flash
Control
core
See note1
Each isolation zone do not have galvanic contact with any other circuitry.
Optocoupler
RS232
serial interface
See note1
Power supply for the module
Note1: These signals are internally avilable. Custom hardware can be made
for OEM appl. with other connectors in order to make the signals available.
Contact your JVL representative for more information.
Isolation zone 2
CVI
P+
MAC00-Ex4 expansion module
4
3
4
A1/B1
Fx4
Fx1-3
IO1-4
O1
O2
RX
TX
GND
A2/B2
AIN1
AIN2
GND
5V
P+
P-
TT3003GB
Multifunction I/O1
(setup as “serial data”)
High speed sync. 0/1
Internal COM
Optional I/O use
Status outputs
Asynchronous
interface (5V)
Multifunction I/O2
AIN1=Zero search input
±10V nom. or up to 32V
Analogue inputs
(processor and encoder)
Internal power supply
Power supply
(MAC400 or 800)
Basic MAC motor
1.2.1
“L/A OUT”
Primary
EtherNet
Interface
M12 female
connector
“L/A IN”
“PWR”
Power supply
MAC400/800: +24V
1.2
Hardware introduction
Overall hardware description
All internal and external main connections can be seen in the illustration below.
9
10
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
2
General Hardware description
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
11
2.1
2.1.1
Module types
Only MAC400&800
Module types
The MacMotor Ethernet modules are available for several Ethernet protocols.
The module used for each protocol has its own unique typenumber, but is based on the
exactly same hardware.
A neutral module where no protocol is installed however also exist.
• Neutral module - no protocol installed.
MAC00-Ex4 is a neutral module not setup-up for any particular protocol. The final
user can setup it up for any of the available protocols just by using the general MacTalk windows software.
The visible LED marking, lables etc. only states that its a neutral MAC00-Ex4 module.
• Pre-loaded module - a specific protocol has been installed.
The modules MAC00-EC4 (EtherCAT), MAC00-EI4 (EtherNetIP), and MAC00-EL4
(POWERLINK) 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 general MacTalk windows software.
The visible LED marking, and typenumber is unique for each module type.
All modules (when not delivered mounted in a MacMotor) is followed by a little label
sheet containing labels for all the available standards and standards to come.
The overall idea is that any module can be changed to another protocol if desired, the
modules can stay neutral when it passes the distribution channel and be setup by the enduser simplifying the logistics.
2.1.2
How to setup a module for a protocol.
Only 2 steps are needed in this process.
1.
2.
Install the intended protocol firmware in the module.
Apply or changing the label with LED marking and typenumber of the module.
The firmware can be setup as follows
(see next page)
12
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
2.1
Module types
Only MAC400&800
How to setup the module for a different/new protocol
Step 1
Determine which Ethernet protocol you want to use.
Have in mind that your Ethernet module MAC00-Ex4
may already be setup for a protocol.
Step 2
As shown the module is setup as a MAC00-EL
module with the Ethernet Powerlink protocol.
Choose the Update Firmware in the Updates
menu to setup the module with another protocol.
Step 3
Make sure that the checkbox “Show all files”
is checked.
Select the desired firmware such as EtherNet-IP.
Note that there may exist more than one
version. Choose the newest version.
Press Start to download the selected firmware.
The status counter will now rise from 0
to 100%.
Step 4
When the download process is finished, the status
shows “Done”.
Also “Current version” has changed to the actual
downloaded version meaning that the firmware in
the module is now changed permanently.
Step 5
The module tab has now changed from
MAC00-EL to MAC00-EI (EthernetIP).
Step 6
The firmware version, MAC address etc.
can be monitored on the module tab.
TT3039GB
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
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2.1
Module types
Only MAC400&800
Changing the label and typenumber
This illustration show how to apply the appropriate label in order to change the LED
texts and also give the module its unique typenumber after the protocol firmware is loaded.
Sheet with type labels
for each Ethernet protocol
Peel off the relevant label from the sheet.
and place it in this area.
The existing typenumber and LED texts
will thereby be overwritten/replaced.
TT3040GB
Typenumber overview:
14
Type
Ethernet Protocol
MAC00-EC4
EtherCAT
MAC00-EI4
EtherNET / IP
MAC00-EL4
EtherNet POWERLINK
MAC00-EM4
Modbus TCP
MAC00-EP4
Profinet IO
MAC00-ES4
Sercos III
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
2.2
2.2.1
I/O descriptions
Only MAC400&800
Hardware overview
Expansion module MAC00-Ex4 front plate
(Neutral module for all the Ethernet protocols)
Module status indicators.
PWR
L/A IN
Primary Ethernet
channel M12 - 4pin
female (D-coded)
and LED for showing
activity.
Power supply connector
M12 - 5pin male and
Green LED for indicating
power applied
I/O
L/A OUT
Secondary Ethernet
channel M12 - 4pin
female Ethernet coded
(D coded) Used when
module is daisy chained
2.2.2
I/O’s and RS232 interface
M12 - 8pin female
connector including:
1 digital input and 1 digital
output, 1 analogue input
MAC Address
Serial number
Each module is having its own
TT3038GB
unique MAC address used
to identify it on the Ethernet
network. The MAC address can also be read electronically
Eeach module have its own
unique serial number which
can be used for determine
hardware version etc.
External signals available at the MAC00-Ex4
Following signals are available at the MAC00-Ex4 module.
• “L/A IN” and L/A OUT” connector.
- The Ethernet connection. L/A IN is connected to the upstream master and L/A
OUT can be used downstream for the next motors/units in the chain.
• “I/O” connector.
- AIN - analogue input +/-10V.
Can be used as input for the zero search sensor or as general analog input for
speed or torque control depending on the what the actual operation mode in the
motor has been setup for.
- O1 - user output 1
Can be used as dedicated “in position” output (default) or as general output controlable over the Ethernet interface.
- RS232 Interface.
Serial unbalanced interface for connection to a PC or a controller. The protocol
is similar to the USB or RS485 interface, which means that all registers/parameters 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.
- I/O supply and gnd (IO- and O+).
Used as ground and supply for the user in/output (O1 and IN1).
• “PWR” connector.
- 24V supply for the internal control circuitry in the motor.
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
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2.1
2.2.3
Module types
Only MAC400&800
General power supply description
The Ethernet modules can only be used in the MAC400 and the MAC800 servomotor.
The diagram below shows how to connect power to a MAC400 motor mounted with a
MAC00-Ex4 module.
Please notice that the voltage connected to P+ and/or CVI must stay in the range +1226VDC. Precautions must therefore be taken if the system also contains MAC50, 95, 140
or 141 which may require 48VDC in order to reach maximum motor speed.
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 connector description, page 19.
Power supply connections to a MAC400
mounted with a MAC00-Ex4 module.
+12-26VDC
(control voltage)
Power supply
GND
Make sure that all
involved units are
connected to the same
potential
MAC400 Motor
with MAC00-Ex4
Power
Supply
Control Volt.
P+
PCVI
Main supply
It is recommended
that a separate supply
line is used for each motor.
Max. 26VDC !
Mains 115 or 230VAC
MAC400 Motor
with MAC00-Ex4
Power
Supply
Control Volt.
P+
PCVI
Main supply
Max. 26VDC !
Mains 115 or 230VAC
TT3011GB
16
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
2.1
Module types
Only MAC400&800
Analogue input connection at the MAC motor
mounted with a MAC00-Ex4 module.
Connected to a external controller
Position or
velocity
controller
MAC motor
+MAC00-Ex4
±10V out
Ground
Make sure that all
involved units are
connected to the same
potential
AIN1 (analogue input)
GND (ground)
Screen
Note ! : screen only
connected to signal source.
Connected to a potentiometer
If only 24V supply is available
insert a 2.7k resistor here.
Power supply
10VDC
Screen
2kOhm potentiometer
(JVL typeno. “POT2K”)
MAC motor
+MAC00-Ex4
Make sure that all
involved units are
connected to the same
potential
AIN1 (analogue input)
GND (ground)
Note ! : screen only
connected to signal source.
This example only covers 0-10V but other configurations do of course also exist, such as 0-5V or +/-10V.
Connected to a zero search switch
MAC motor
+MAC00-Ex4
Zero search switch
Power supply
10-32VDC
Make sure that all
involved units are
connected to the same
potential
AIN1 (analogue input)
GND (ground)
TT3012GB
Note: Do not apply voltages higher than 32V to the analogue input (AIN)
2.2.4
Using the analogue input (AIN1).
When a MAC00-Ex4 module is mounted in the MAC400 or MAC800 motor, the analogue inputs is available in the same manner as in the basic motor itself.
The analogue inputs can be used for several applications and the function of the analogue
input is determined by the mode in which the motor is set to operate.
Typically the inputs is used for controlling the velocity, torque or position of the motor
but the input is also used as digital input for zero search or in “Air Cylinder Mode” where
it is used as trigger input for the movement done by the motor.
For further information concerning physical connections, see the Expansion module
MAC00-Ex4 connector description, page 19.
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
17
Only MAC400&800
1 Only one motor can be
connected at the interface
line.
2 Use screened cable.
3 Ensure that GND (interface
ground) is also connected.
4 Ensure that all units have a
proper connection to safety
ground (earth) in order to
refer to the same potential.
5 The RS232 interface cable
length should not exceed 10
metres.
GND
When connecting the RS232
interface to a PC or controller, the following rules must
be followed:
+12-32VDC
RS232 - General description when using the MAC00-Ex4 module
The RS232 interface is considRS232 connection between a PC or central controller
ered the main interface to the
motor when the motor is set
to MAC400 with a MAC00-Ex4 module.
up using the MacTalk winCentral
Make sure that all
Power supply
dows software from a PC or
involved units are
Controller
connected to the same
from any kind of controller us(for example a PC)
potential
ing a RS232 interface.
Opto isolation *
Tx
Rx
IGND
2.2.5
Module types
Screen connected
to GND in each end
Screen
2.1
MAC400 Motor
with MAC00-Ex4
Rx
RS232
Tx
Interface
IGND Power P+
Supply P-
Max. 32VDC !
Contr. Voltage CVI
Main supply
Mains 230VAC
* Opto isolation is recommended if connection is permanent.
TT3013GB
Connectors:
To see the specific connector pin-out please see the chapter Expansion module MAC00Ex4 connector description, page 19.
A finished RS232 cable also exist. Please see Cables for the MAC00-Ex4, page 21
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JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
2.3
Connector description
Only MAC400&800
Expansion module MAC00-Ex4 front plate
L/A IN
PWR
Primary Ethernet
channel
M12 - 4pin female
Ethernet coded
(D coded)
Power supply
M12 - 5pin male
connector including:
P+ (primary supply), and CVI
(secondary supply) and P-
L/A OUT
Secondary Ethernet
channel
M12 - 4pin female
Ethernet coded
(D coded)
Used when module
is daisy chained
2.3.1
I/O
I/O’s and RS232 interface
M12 - 8pin female
connector including:
1 digital input and 1 digital
output, 1 analogue input
TT3002GB
Expansion module MAC00-Ex4 connector description
The MAC00-Ex4 offers IP65 protection and M12 connectors which makes it ideal for automation applications where no additional protection is desired. The M12 connectors offer solid mechanical protection and are easy to unplug.
The connector layout:
“PWR” - Power input. M12 - 5pin male connector
Signal name
Description
Pin no.
JVL Cable
WI1000M12F5T05N
P+
Main supply +12-24VDC. Connect with pin 2 *
1
Brown
1
P+
Main supply +12-24VDC. Connect with pin 1 *
2
White
1
P-
Main supply ground. Connect with pin 5 *
3
Blue
1
CVI
Control supply +12-24VDC.
DO NOT connect >25V to this terminal !
4
Black
1
P-
Main supply ground. Connect with pin 3 *
5
Grey
1
Isolation
group
* 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 overload of the connector.
(Continued next page)
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
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2.3
Connector description
Only MAC400&800
“I/O” - I/O’s and interface. M12 - 8pin female connector.
Signal name
Description
Pin no.
JVL Cable
WI1000-M12
M8T05N
Isolation
group
(See note)
O1
Output 1 - PNP/Sourcing output
1
White
2
RS232: TX
RS232 interface. Transmit terminal
Leave open if unused.
2
Brown
1
RS232: RX
RS232 interface. Receive terminal
Leave open if unused.
3
Green
1
GND
Interface ground to be used together with the
other signals in this connector. Also ground for
the analogue input (AIN1 - pin 5)
4
Yellow
1
AIN1
Analogue input1 ±10V or used for zero search
5
Grey
1
IN1
Digital input 1 - 12-32V tolerant.
6
Pink
2
IO-
I/O ground to be used with the I/O terminals O1
and IN1.
7
Blue
2
O+
Positive supply input to the output circuitry.
Connect 5-32VDC to this terminal if using the O1 8
output.
Red
2
“L/A IN” - Ethernet port connector - M12 - 4pin female connector “D” coded
Signal name
Description
Pin no.
JVL Cable
WI1046M12M4S05R
Tx0_P
Ethernet Transmit channel 0 - positive terminal
1
-
3
Rx0_P
Ethernet Receive channel 0 - positive terminal
2
-
3
Tx0_N
Ethernet Transmit channel 0 - negative terminal 3
-
3
Rx0_N
Ethernet Receive channel 0 - negative terminal
-
3
4
Isolation
group
(See note)
“L/A OUT” - Ethernet port connector. M12 - 4 pin female connector “D” coded
Signal name
Description
Pin no.
JVL Cable
WI1046M12M4S05R
Tx1_P
Ethernet Transmit channel 1 - positive terminal
1
-
4
Rx1_P
Ethernet Receive channel 1 - positive terminal
2
-
4
Tx1_N
Ethernet Transmit channel 1 - negative terminal 3
-
4
Rx1_N
Ethernet Receive channel 1 - negative terminal
-
4
4
Isolation
group
(see note)
* Note: Isolation group indicate which terminals/circuits that a galvanic connected to each other. In other
words group 1, 2, 3 and 4 are all fully independantly isolated from each other. Group 1 correspond to the housing of the motor which may also be connected to earth via the DC or AC input supply.
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JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
2.4
Cable accessories
2.4.1
Only MAC400&800
Cables for the MAC00-Ex4
The following cables equipped with M12 connector can be supplied by JVL.
MAC00-Ex4 Connectors
Description
JVL Order no.
X
RS232 Interface cable. Connects
directly from MAC00-Ex4 to a PC
Length: 5m (197 inch)
RS232-M12-1-5-8
X
Cable with M12 male 8-pin
connector loose wire ends
0.22mm² (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
0.35mm² (22AWG) and foil screen.
Length: 5m (197 inch)
WI1000-M12F5T05N
X
Same as above but 20m (787 inch)
WI1000-M12F5T20N
“L/A IN” “L/A OUT” “I/O”
8pin
12pin
8pin
male
Female
Female
Picture
“PWR”
5pin
Male
X
X
Ethernet cable with M12 female 4pin D
coded straight connector, and RJ45
connector (fits into std. Ethernetport)
WI1046-M12M4S05NRJ45
X
X
Ethernet cable with M12 female 4pin D
coded straight connector, loose ends.
WI1046-M12M4S05R
X
X
Same as above but 15m (590 inch)
WI1046-M12M4S15R
Protection caps. Optional if connector is not used to protect from dust / liquids.
X
X
X
X
IP67 protection cap for M12
female connector.
WI1000-M12FCAP1
IP67 protection cap for M12
male connector.
WI1000-M12MCAP1
Important: Please note that the cables are a standard type. They are not recommended for use in cable chains or where the cable is repeatedly bent. If this is required, use a special robot cable (2D or 3D
cable).
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
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22
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
3
MAC00-EC4 EtherCAT® module
7 MAC00-EC4 EtherCAT® module ................................ 23
7.1
7.2
7.3
7.4
Introduction to EtherCAT® ....................................................24
Protocol specifications .............................................................26
Commisioning ..........................................................................29
EtherCAT® objects .................................................................33
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
23
3.1
Introduction to EtherCAT®
Expansion module MAC00-EC4 front plate
TT3041GB
3.1.1
Intro to EtherCAT®.
EtherCAT® is a Real Time Ethernet technology which aims to maximize the use of the
100 Mbit, full duplex Ethernet bandwidth. It overcomes the overhead normally associated with Ethernet by employing "on the fly" processing hardware.
An EtherCAT® net consists of a master system and up to 65535 slave devices, connected together with standard Ethernet cabling.
The slave devices process the incoming Ethernet frames directly, extract or insert relevant data and transfer the frame to the next slave device, with a delay of approx. 4µs.
The last slave device in the bus segment sends the processed frame back, so that it is returned 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 Dictionary structure to manage the parameters. Further information about
EtherCAT®, is available from the EtherCAT® technology group http://www.ethercat.org.
24
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
3.1
3.1.2
Introduction to EtherCAT®
Abbreviations
Following general used terms are usefull to know before reading the following chapters.
100Base-Tx
CAN
CANopen
CoE
DC
EMCY
EoE
ESI
ESC
ETG
EtherCAT®
IP
MAC
PDO
SDO
SII
XML
100 MBit Ethernet on twisted pairs
Controller Area Network
Application layer protocol used in automation.
CANopen over EtherCAT®.
Distributed Clock
Emergency Object.
Ethernet over EtherCAT®.
EtherCAT® Slave Information
EtherCAT® Slave Controller
EtherCAT® Technology Group
Ethernet Control Automation Technologie
Internet Protocol - IP address ~ the logical address of the device, which is
user configurable (not used in EtherCAT®).
Media Access Controller - MAC address ~ the hardware address of the
device (not used in EtherCAT®)
Process Data Object (for cyclic data)
Service Data Object (for acyclic data)
Slave Infirmation Interface
eXtensible Markup Language - used for the ESI file.
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
25
3.2
3.2.1
Protocol specifications
EtherCAT® - communication
The EtherCAT® fieldbus system is standardised by the EtherCAT® user organisation
(ETG). The driving force behind this is the german company, Beckhoff GmbH. Due to
the advanced Ethernet technology used for EtherCAT®, in the future, customers can
change from other fieldbus systems to EtherCAT® or generally equip new plant models
with EtherCAT®.
Communication on EtherCAT® is based on a master/slave operation. The update cycle
between master and slave depends on the number of EtherCAT® slaves, the amount of
process data of the individual slaves, and the set update time of the master. Due to the
ring topology, in every bus cycle only one telegram is sent on the bus. The bus cycle time
thus remains exactly the same in every cycle.
Slave addressing can be done in two ways:
• Auto increment addressing
• Fixed node addressing
With Auto increment addressing the master scans the net for slaves, and the slaves are
then addressed in the sequence they are physically present on the net. With fixed node
addressing, the addresses that each node has programmed, is used.
3.2.2
EtherCAT® frame structure
In EtherCAT®, the data between the master and the slaves is transmitted in Ethernet
frames. An EtherCAT® Ethernet frame consists of one or several EtherCAT® telegrams, 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 section 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 by all EtherCAT® nodes
that are addressed by the telegram and have exchanged associated data.
8 bytes
14 bytes
Preamble Ethernet header
2 bytes
10 bytes
EtherCAT
header
1'st Datagram
header
44 - 1498 bytes
-
2 bytes
Data
WKC
4 bytes
n'th EtherCAT datagram
Checksum
TT3007GB
3.2.3
Sync managers
Sync managers control the access to the application memory. Each channel defines a consistent area of the application memory. The adapter module has four sync manager channels. The mailbox protocol (SDO's) and process data (PDO's) are described later in this
chapter.
3.2.4
Sync manager watchdog
The sync manager watchdog monitors the output sync managers. If the output data is not
updated by the EtherCAT® master within the configured time, the watchdog will activate time out and change the state of the adapter module from Operational to Safe-Operational.
Note: EtherCAT® has been designed so that it provides no way for a slave to monitor
the connection to the master if the slave gets no output data.
Note: The drive reaction to a communication fault must be configured in the module
write flag register (object 2011 subindex 6 - motor set passive or motor set velocity =0).
26
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
3.2
3.2.5
Protocol specifications
EtherCAT® - State machine
Both the master and the slaves have a state machine with the states shown below. After
boot the slaves are in INIT state, and then it's up to the master to request state transitions. The standardized EtherCAT® state machine is defined in the following figure. The
bootstrap state is not supported.
Init
(IP)
(IB)
(PI)
Pre-Operational
(PS)
(OI)
(OP)
(BI)
Bootstrap
(SP)
(SI)
Safe-Operational
(OS)
(SO)
Operational
TT3009GB
The module enters the Init state directly after start-up. After this, the module can be
switched to the Pre-Operational state. In the Pre-operational state the EtherCAT® mailbox communication is allowed and CoE objects can be accessed by SDOs. After the master 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® master, but there is no output I/O data from the master to the module. To communicate output I/O data the master must switch the adapter module to the Operational state.
State description table:
State
Description
Init
State after device initialisation. No Application layer communication (no SDO and
PDO communication).
Pre-operational
SDO communication possible. No PDO communication.
Safe-operational
Transmit PDO operational (drive sends data to master)
Operational
Drive fully operational, responds to data via receive PDO
Boot-strap
Not used.
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27
3.2
3.2.6
Protocol specifications
CANopen over EtherCAT®
The application layer communication protocol in EtherCAT® is based on the CANopen
DS 301 communication profile and is called CANopen over EtherCAT® (CoE). The protocol specifies the Object Dictionary in the adapter module, in addition to communication objects for exchanging cyclic process data and acyclic messages.
The EtherCAT® 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 transmission.
• Emergency Object (EMCY). The EMCY is used for error reporting when a fault has
occurred in the module or in the drive.
28
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
3.3
3.3.1
Commisioning
Indicator LED’s - description.
The LED's are used for indicating states and faults of module. There is one power LED,
two link/activity LED's (one for each Ethernet connector), and 2 status LED's.
Indicator and label overview
General status indicator
Error indicator
Power indicator
Line activity indicator
Line activity indicator
Hardware serial number
MAC address
TT3010GB
LED indicator descriptions
LED Text Colour Constant
off
Constant Blinking
on
Single flash Double flash Flickering
L/A IN
Green
No valid
Ethernet
connection.
Ethernet
is
connected.
-
-
-
Activity on
line
L/A OUT
Green
No valid
Ethernet
connection.
Ethernet
is
connected.
-
-
-
Activity on
line
RUN
Green
Device
Device state
Device
Device state =
state = INIT = Opera- state = Pre- Safe-operational
operational
tional
-
-
Process data
watchdog timeout /
EtherCAT®
watchdog timeout
Booting
error
-
Power is
applied to
module but
no communication with
motor.
ERROR
PWR
Red
No error
Critical communication
or controller
error
Power is apPower is not plied to both
Green
applied.
motor and
module.
General
configuration error
-
Local error
-
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 followed by 1s off period. Flickering: Rapid flashing with a period of approx. 50ms (10 Hz).
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29
3.3
3.3.2
Commisioning
Quick start with TwinCAT.
1. Copy the Ethernet slave information file (“JVL ECS V10.XML”) to the folder
“..\Twincat\IO\Ethernet\” on the master 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, and check that the
corresponding LED is lit.
4. Start TwinCAT - system manager on the master, and make sure that a proper Ethernet I/O device is appended (consult your TwinCAT manual).
5. Right click the I/O device, and select "append box".
TT3004GB
Continued next page
30
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
3.3
Commisioning
6. Unfold "JVL Industri Elektronik" and "MAC00".
7. Select "MAC00-ECx" and press the OK button.
TT3005GB
8. The device should now appear in the left side of the TwinCAT window, with a tiny
JVL logo.
9. Press F4 (Reload I/O devices), and select the JVL device on the left side of the window.
10. The "L/A IN" LED should now be flashing and the process data should now appear
on the bottom right side of the TwinCAT window.
Continued next page
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
31
3.3
Commisioning
11. By pressing the "CoE online" tab, it's possibly to inspect the CANopen objects, and
modify motor and module parameters.
TT3006GB
3.3.3
Mechanical installation
The network cables must be connected to the two M12 connectors (marked "L/A IN"
and "L/A OUT") on the module. The cable from the EtherCAT® master is always connected to the "L/A IN" port. In the line topology, if there are more slave devices in the
same line, the next slave device is connected to the port marked "L/A OUT". If there is
a redundant ring, the right "L/A OUT" port of the last slave device is connected to the
second port of the EtherCAT® master. See the figure below. Standard CAT 5 FTP or
STP cables can be used. It is not recommended to use UTP cables in industrial environments, which is typically very noisy.
Drive
with
EtherCAT
module
L/A IN
L/A OUT
Drive
with
EtherCAT
module
L/A IN
L/A OUT
Drive
with
EtherCAT
module
L/A IN
L/A OUT
OUT
EtherCAT
master
IN
TT3007GB
32
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
3.4
3.4.1
EtherCAT® objects
Process Data Object 21 (PDO)
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, 32
bit registers in each PDO. 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
module uses the default mapping shown in the tables below.
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)
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
Default registers in receive PDO 21 (Master > Slave)
Object index Register no. Motor register short
3.4.2
Motor register description
0
2
MODE_REG
1
3
P_SOLL
Operating mode
Target position
2
5
V_SOLL
Maximum velocity
3
7
T_SOLL
Maximum torque
4
-
-
-
Minimum cycle time
The minimum cycle time is the minimum amount of time between each cyclic request
(PDO) on the Ethernet.
If operating with values lower than those listed, data loss will occur.
No. of motor registers
transmitted in each
direction
1/1
2/2
3/3
4/4
5/5
Motor series
MAC050 - MAC141
Motor series
MAC400 and MAC800
3mS
6mS
9mS
12mS
15mS
360µS
395µS
430µS
465µS
500µS
The minimum cycle times, is only valid if not sending any SDO requests while in any operating mode. 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 1.5ms if MAC050-MAC141, and
with 30µs if MAC400-MAC800.
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
33
3.4
EtherCAT® objects
3.4.3
Service Data Objects (SDO)
Service Data Objects (SDOs) are mainly used for transferring non time-critical data, for
example, identification, configuration and acyclic data.
3.4.4
Emergency Objects
Emergency Objects (EMCYs) are used for sending fault information from the communication module and the drive to the EtherCAT® network. They are transmitted whenever a fault occurs in the drive or in the module. Only one Emergency Object is transmitted
per fault. EMCYs are transmitted via SDO's.
3.4.5
Object Dictionary
An important part of the CoE protocol is the Object Dictionary, which is different objects
specifying the data layout. Each object is addressed using a 16-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.
3.4.6
Mandatory objects:
Name
Index
(hex)
Sub
Index
Data Type
Read
only
Device type
1000
UNSIGNED32
X
Error
Register
1001
UNSIGNED8
X
Default
Description
0x0
Contains information about the
device type.
This is the mapping error register,
and it is part of the emergency object. If some of the sub index are
high, an error has occured. See
also section 4.3.21. Mandatory
0
Generic error. Mandatory
1
Current
2
Voltage
3
Temperature
4
Communication (Overrun)
5
Device profile specific
6
Reserved
7
34
Manufactor specific
Manufacturer
device
name
1008
VISIBLE
STRING
X
JVL MAC00ECx
Manufacturer
hardware version
1009
VISIBLE
STRING
X
1.0
Manufacturer
software
version
100A
VISIBLE
STRING
X
1.0
Identity
object
1018
IDENTITY
X
0
1..4
X
4h
Number of entries. Mandatory
1
UNSIGNED32
X
0x0117
Vendor ID, contains a unique value
allocated to each manufactor.
117h
is JVLs vendor ID. Mandatory.
2
UNSIGNED32
X
0x0200
Product Code, identifies a specific
device version. The MAC00-EC4
has the product code 200h
3
UNSIGNED32
X
0x20020
Revision number.
4
UNSIGNED32
X
Example: Version x.x
Contain general information about
the module
Serial number
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
3.4
3.4.7
EtherCAT® objects
Manufacturer specific objects.
The manufacturer specific objects, provides access to all module registers, and all motor
registers, as well as a module command object.
Index
(hex)
Sub
Index
Type
Read
only Default Description
Module command
2010
0
UNSIGNED32
Module
parameters
2011
0
UNSIGNED8
X
1
UNSIGNED32
X
High 16 bit of MAC address (placed
in low 16 bit of word)
2
UNSIGNED32
X
Low 32 bit of MAC address
3
UNSIGNED32
IP address
4
UNSIGNED32
Net mask
5
UNSIGNED32
6
UNSIGNED32
0x0
7
UNSIGNED32
0
Digital outputs on module
8-15
UNSIGNED32
-
Reserved for future use
16
UNSIGNED32
2
Register no. to place in TxPDO 21,
position 1.
17
UNSIGNED32
10
Register no. to place in TxPDO 21,
position 2.
18
UNSIGNED32
12
Register no. to place in TxPDO 21,
position 3.
19
UNSIGNED32
169
Register no. to place in TxPDO 21,
position 4.
20
UNSIGNED32
35
Register no. to place in TxPDO 21,
position 5.
21
UNSIGNED32
-
Reserved for future use
22
UNSIGNED32
-
Reserved for future use
23
UNSIGNED32
-
Reserved for future use
24
UNSIGNED32
2
Register no. to place in RxPDO 21,
position 1.
25
UNSIGNED32
3
Register no. to place in RxPDO 21,
position 2.
26
UNSIGNED32
5
Register no. to place in RxPDO 21,
position 3.
27
UNSIGNED32
7
Register no. to place in RxPDO 21,
position 4.
28
UNSIGNED32
0
Register no. to place in RxPDO 21,
position 5.
29
UNSIGNED32
-
Reserved for future use
30
UNSIGNED32
-
Reserved for future use
31
UNSIGNED32
-
Reserved for future use
32
UNSIGNED32
X
-
Module serial no.
33
UNSIGNED32
X
-
Module hardware version
34
UNSIGNED32
X
-
Module software version
35
UNSIGNED32
X
-
No. of internal motor communication
timeouts
36
UNSIGNED32
X
-
No. of retry frames to motor
37
UNSIGNED32
X
-
No. of discarded frames to motor
38
UNSIGNED32
X
-
Total no. of frames to motor
39-46
UNSIGNED32
X
-
Reserved for future use
47
UNSIGNED32
X
-
Digital inputs on module
48
UNSIGNED32
X
-
Status bits
Module command object. See possible commands below.
63
Gateway
49-63
Motor
parameters
2012
Subindex count
Setup bits
Reserved for future use
0
UNSIGNED8
N
UNSIGNED32
X
254
Subindex count
Access to the motor parameter n
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 afterwards.
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
35
3.4
3.4.8
EtherCAT® objects
Object 0x2010 - Subindex 0
This object is used for sending commands to the module and is write only. The possible
commands are listed in the table below.
Command no.
Function
0x0
0x001
0x010
0x101
No operation
Reset the module
Save parameters to flash
Simultaneous reset of the motor and the module
Instructs the motor to save in flash memory, and do a resync of internal communication afterwards.
Bit 0-30 of the command is transmitted to the motor register 211 (motor command register)
0x110
0x80000000 0xFFFFFFFF
3.4.9
Object 0x2011
The module registers is mapped to object 0x2011. The subindex 3-31 is R/W, the rest is
read only.
3.4.10
Object 0x2011 - Subindex 1-5
Reserved for future use.
3.4.11
Object 0x2011 - Subindex 6 Setup bits
This register is used to setup how the module should react on different events.
3.4.12
Bit
1-31
0
Output
Reserved
0 : Ethernet error handling = motor set passive mode
1 : Ethernet error handling = motor set velocity to 0
Object 0x2011 - Subindex 7 Digital inputs on module
With this object the status of the 4 digital inputs can be read.
Bit
4-31
Input
Reserved
3
2
1
0
IN4*
IN3*
IN2*
IN1*
* The availability of the inputs depends on the actual version of the module used. Example MAC00-EC4 only support Input 1 (IN1).
3.4.13
36
Object 0x2011 - Subindex 15 Command register
Analogue to writing to object 0x2010. But this can be mapped in the RxPDO 21 if desired.
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
3.4
EtherCAT® objects
3.4.14
Object 0x2011 - Subindex 16-23 Register no. to place in TxPDO 21
These registers contain the numbers that define the registers which are in the TxPDO
21. That is the register's, which is transmitted from slave to master cyclically. If some of
these registers are changed, it is necessary to issue a "save in flash" command and to reboot the device before the changes take effect.
3.4.15
Object 0x2011 - Subindex 24-31 Register no. to place in RxPDO 21
These registers contain the numbers that define the registers which are in the RxPDO
21. That is the register's, which is transmitted from master to slave cyclically. If some of
these registers are changed, it is necessary to issue a "save in flash" command and to reboot the device before the changes take effect.
3.4.16
Object 0x2011 - Subindex 32-38
These registers contain HW, SW and communication information of the module.
3.4.17
Object 0x2011 - Subindex 47 Digital outputs on module
With this object the digital outputs can be controlled.
The value written to this object is directly shown on the digital outputs.
Bit
2-31
Output
Reserved
*
3.4.18
1
0
Output2*
Output1*
(O2)
(O1)
The availability of the outputs depends on the actual version of the module used.
Example MAC00-EC4 only support Output 1 (O1).
Object 0x2011 - Subindex 48 Status bits
This register is used for miscellaneous information about the module.
Bit
8-31
Output
Reserved
7
0-6
1=No communication with
the motor
Reserved
3.4.19
Object 0x2012
Object 0x2012 are for acyclic view or change of motor registers, se register descriptions
in the chapter Motor registers, page 89
3.4.20
EtherCAT® Slave Information file
EtherCAT® Slave Information file (ESI) is a XML file that specify the properties of the
slave device for the EtherCAT® master and contains information on the supported communication objects. EtherCAT® Slave Information files for JVL drives are available
through your local JVL representative. If TwinCAT is used for master then the XML-file
shall be copied to the folder "..\TwinCAT\Io\EtherCAT\".
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
37
38
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
4
MAC00-EI4 EthernetIP module
7 MAC00-EI4 EthernetIP module ................................... 39
7.1
7.2
7.3
7.4
7.5
7.6
7.7
7.8
7.9
Introduction to EthernetIP .......................................................40
Using non cyclic messages ........................................................42
Using cyclic messages I/O-messages ........................................44
Commissioning .........................................................................45
Examples ..................................................................................47
Configuration using different methods .....................................49
Using and Selecting an Ethernet switch ...................................52
Objects accessible using Explicit messages ..............................53
Examples of applications ..........................................................56
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
39
4.1
Introduction to EthernetIP
Expansion module MAC00-EI4 front plate
TT3042GB
4.1.1
Intro to EtherNet/IP
The JVL MAC00-EI -module makes communication using EtherNet/IP possible with the
JVL motor.
The Ethernet technology gives the advantages of fast data access using standard off the
shelf hardware which again has the advantage of large accessability and low prices.
The JVL implementation is done in a way that minimizes the complexity of getting a system up and running but still utilizes the benefits of industrial ethernet.
The JVL EtherNet/IP implementation supports both explicit messaging and I/O messages
with up to 5 free configurable input and output words.
With a basic knowledge of the JVL motor operation through the register structure and a
basic knowledge of the EtherNet/IP technology, a motor can be setup and controlled in
a very short time without first doing extensive studies in complex motion control standards etc.
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
called Explicit messages (not time critical) and I/O messages (time critical).
In the motion control world, time critical data would be actual position, actual status and
actual speed and actual torque where data not time critical would be such as motor temperature and setup parameters.
EtherNet/IP is object based similar to DeviceNet and follows the standards issued by
ODVA.
For more information on EtherNet/IP please visit www.ODVA.org for further details on
EtherNet/IP and to get the EtherNet/IP standard specification issued by ODVA.
The JVL implementation supports manufacture specific objects to gain access to each
register in the motor.
40
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
4.1
4.1.2
Introduction to EthernetIP
EthernetIP specification
The JVL implementation supports manufacturer specific objects to gain access to each
register in the motor.
Supported standard EthermetIP classes
Type
Class
Identity Object, class
Message router object, class
Assembly object, class
TCP/IP interface object, class
Ethernet link object, class
0x01
0x02
0x04
0xF5
0xF6
On top of this the JVL manufacture specific class object 0x64 has been added.
4.1.3
Identity object class 0x01
Holds information about the JVL device on the network. Typical used by other devices
to identify devices on the network.
(for further specification please refer to the EtherNet/IP appx.)
4.1.4
Message router object class 0x02
Handles all messages to/from object's in the device.
4.1.5
Assembly object class 0x04
Object that binds all IO data to a connection point.
4.1.6
TCP/IP interface object class 0xF5
Holds all information on the Ethernet connection, such as the IP-adress, Network mask
and GateWay.
4.1.7
Ethernet link object class 0xF6
Holds information on link specific counters and instances associated with the communication interface.
To gain access to the motor registers Class object 0x64 is used.
See section "Objects accessable using Explicit messages" for further details Objects accessible using Explicit messages, page 53
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
41
4.2
4.2.1
Using non cyclic messages
Using non cyclic messages (Explicit messages)
Non cyclic messages in the EtherNet/IP domain is called Explicit messages. This message
type is typically used to perform configuration and other non-time critical operations.
Explicit messages can be send as a connected or unconnected message.
All registers in the motor can be accessed explicitly using object class 0x64. The register
range in the motor is from 1-255 all 32bit size.
For a complete register list please see Motor registers, page 89
The object class 0x64 explained in details:
Service type and code supported:
Set_Attribute_Single0x10
Get_Attribute_Single0xE
Instances supported: 0x01-0xFF (motor registers 1-255)
42
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
4.2
Using non cyclic messages
4.2.2
Example 1
We would like to set the motor into velocity mode.
This requires that the mode register 2 = 0x1.
Velocity mode is 0x1, Position mode = 0x2 etc.
All modes of operation is further described in the servo manual.
Package:
Class:
Service:
Instance:
Attribute:
0x64
0x10 (write data)
0x2 (mode register in the motor
0x1
Data: 0x01 0x00 0x00 0x00
This will set the mode register in the motor into velocity -mode
Motor Register 2 = 1
If we choosed the Littleendian format we would form the data structure in this way:
Data: 0x00 0x00 0x00 0x01
Now if we want to read a value from the motor we use the service code 0xE.
4.2.3
Example 2
After setting the motor into velocity mode it will start running. Now the actual velocity
can be read while the motor is running.
Package:
Class:
Service:
Instance:
Attribute:
0x64
0xE (write data)
0x5 (mode register in the motor
0x1
Now the response data is received:
Data: 0x01 0x15 0x00 0x00
This value 0x115 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 explicit messages. This method is not suitable when data is needed fast and frequently for
this purpose I/O messaging (Implicit messaging) is used.
Not only motor registers are accessable using explicit messages, also static data such as
serial numbers, network status etc are accessable. These informations are accessable according to the EtherNet/IP standard and follows the implemented classes: 0x1, 0x4,
0xF5, 0xF6. These classes are explained in details in the EtherNet/IP standard (optained
from www.ODVA.org) and in
For further info please See “Objects accessible using Explicit messages” on page 53.
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4.3
Using cyclic messages I/O-messages
4.3.1
Cyclic messages.
I/O messaging also refered to as Implicit messages is used when data is needed fast and
frequent. That is fast dynamic changing data such as position, velocity, torque etc.
These data is send cyclic using the assembly class object 0x04.
The JVL assembly consists of 5 I/O words that is freely configurable. This means that 5
input motor registers can be selected and another 5 motor registers for output purposes.
The terms Input and output is considered from the scanner so input is data flowing from
the motor to the scanner and output is vice versa.
Here the actual position is transfered
in the 1. word of data.
The operation mode is written in the
motor.
TT3014GB
All words are 4 bytes.
In the example shown above the 5 read words (data read from the motor) are:
Motor register 10 (Actual position)
Motor register 12 (Actual velocity)
Motor register 20 (Follow error)
The actual motor position
The actual velocity of the motor
The actual follow error the motor is experiencing
Motor register 16 (Motor load - mean) The load the motor is experiencing over time
Motor register 35 (Error status)
Bit-field that holds both error information and
status of movements etc.
The 5 write registers are configured to hold the following data:
Motor register 2 (Operating mode)
0=passive, 1=Velocity, 2=position etc
Motor register 6 (Acceleration)
The requested acceleration to be used.
Motor register 5 (Velocity)
The requested Velocity to be used
Motor register 7 (Torque)
The max. allowed Torque to be used
Motor register 3 (Requested position) The requested position if operating mode = 2
(position)
For a complete register list please see Motor registers, page 89
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4.4
4.4.1
Commissioning
Indicator LED’s - description.
The LED's are used for indicating states and faults of module. There is one power LED,
two link/activity LED's (one for each Ethernet connector), and 2 status LED's.
Indicator and label overview
General status indicator
Error indicator
Power indicator
Line activity indicator
Line activity indicator
Hardware serial number
MAC address
TT3043GB
LED indicator descriptions
LED Text Colour
Constant off
Constant on
Blinking
Flickering
-
Activity on line
L/A IN
Green
No valid Ethernet
connection.
Ethernet
is
connected.
L/A OUT
Green
No valid Ethernet
connection.
Ethernet
is
connected.
-
Activity on line
RUN
Green
TBD
TBD
TBD
TBD
ERROR
Red
TBD
TBD
TBD
TBD
-
Power is applied to
module but no communication with motor
PWR
Green
Power is not applied.
Power is applied.
Notes:
Blinking : Flashing with equal on and off periods of 200ms (2.5Hz). Flickering : Rapid flashing with a period
of approx. 50ms (10 Hz).
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4.4
Commissioning
4.4.2
MacTalk Ethernet configuration
The module is by default setup with the following Ethernet configuration:
The MAC-address and
other basic info is
shown here
TT3022GB
After adjusting all settings press "Apply and save" for the settings to take 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 frontplate of the module also indicate the MAC-address.
Basic use of MacTalk is described in the MAC-motor manual (lit. no. LB0047-xxGB)
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4.5
4.5.1
Examples
Running Velocity control
To use the JVL motor in velocity mode the following registers are basically of interest.
1.
2.
3.
4.
"Mode" - Mode register register 2
"V_SOLL" - Velocity register 5
"A_SOLL" - Acceleration register 6
"Error/Status" - Error and status register 35
So, to control these registers the assembly object needs to configured.
From MacTalk the setup is configured as this.
The actual velocity is transferred in the 1. word
The 5. word holds the data from the error/status
register. This data is a bitfield structure holding both
motion related information and present error type.
The operation mode is set in the 1. Word,
0=passive mode and 1=Velocity mode.
Use passive mode to stop the motor and
velocity mode to start the motor.
The requested velocity is set in the 3. word
The requested acceleration is set in the 5. word
TT3016GB
With the settings illustrated above we initiate the velocity mode by writing 0x1 to the first
word-value, this is velocity mode.
From the scanner the registers is accessed using the assembly object and accessing the
registers R/W on words 1-5.
Since different PLC's have different methods of implementation the basic steps is described in the following.
1. Set the needed velocity. V_SOLL = V x 2.77 [rpm]
Ex. 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]
Ex. We need the motor to accelerate with 100000 RPM/s² so, A_SOLL = 100000/
271 = 369 cnt/smp².
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 motor will use the acceleration and the velocity just configured.
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4.5
4.5.2
Examples
Running Position control
Running the motor in position control requires that the mode register is set for position
control. The following registers is of particular interest when position mode is used.
1.
2.
3.
4.
5.
6.
7.
8.
"Actual position" -P_IST, register 10
"Actual velocity" -V_IST, register 12
"Follow error" - The actual position error, register 20
"Motor load mean" - average motor load, register 16
"Error/Status" -register 35
"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 the actual positioning occurs.
10 Actual position, P_IST value is sent back in
this word
12 Actual velocity, V_IST is sent back in this word
20 Follow error, the position error
16 Motor load mean. The mean load on the motor
35 Error/Status holds information regarding motion
status and error status/code if any
2
Operating mode is used to enable/disable the motor
Values: Passive mode = 0
Position mode = 2
TT3017GB
4.5.3
3
Requested position, Sets the P_SOLL value.
5
Velocity, sets the V_SOLL requested velocity value
The resolution is 100 RPM = 277 counts/sample
6
Acceleration, requested acceleration
0
Not used - Any register can be inserted here
General considerations
The register 35 in the motor holds information on the actual error/status. So it is crucial
that this register is configured in the assembly object and thereby obtained and monitored in the scanner. In case of an error situation 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
For a complete register list please see Motor registers, page 89
The JVL motor is basically put into a working mode and into a passive mode where the
motor axle is de-energized, by setting register 2 into either 0 = "passive mode" or into
one of the supported modes.
Example.
1= "Velocity mode" / 2= "Position mode" / etc.
So in order to Stop or Start the motor this register can be supported in the I/O data or
by sending an explicit message.
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4.6
Configuration using different methods
Basically a JVL motor works by loading a configuration into RAM memory from the non
volatile flash memory when 24V power is applied and the motor is initialized.
The motor only holds one configuration and this configuration can be stored into the NV
flash memory.
Several approaches can be used to configure the motor with data and finally saving them
permanently in the NV flash.
A very general approach could be by using the PC-based software tool MacTalk, which
offers both basic motor setup and control and the possibility to save all parameters in a
separate file for backup purposes.
This software package utilizes the serial connection to communicate with the motor
from any standard Windows PC.
Configuration 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 afterwards 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 in the motor or simply using a configuration routine that simply sends the required explicit messages to address the needed registers followed by the message to save the settings permanently.
IP-address and other network settings still needs to be setup using MacTalk.
Ex. Setting up a motor sending messages explicitly
We want to change the default motor settings and save them permanently into flash.
The following settings needs to be changed:
1. Velocity
2. Acceleration
3. Torque
The registers needed to be addressed are:
Velocity = V_SOLL = register 5
Acceleration = A_SOLL = register 6
Torque = T_SOLL = register 7
To address individual registers explicitly we use the class 0x64 for the purpose.
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4.6
Configuration using different methods
First we change the Velocity setting, we want the motor to spin with 1000 RPM.
The message for addressing V_SOLL is formed:
TT3018GB
We need to scale 1000 RPM to the correct value in the motor 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.
TT3019GB
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/s² = 0.0036 counts/sample² so, in
order to reach 20000 we need to send the value 72 = 0x00000048.
Acceleration is instance 6 (A_SOLL).
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Configuration using different methods
TT3020GB
Then configure the maximum motor torque to be used.
The motor can reach a peak torque of 300% the rated value. This value corresponds to
1023 in 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 basically 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 in order to do a internal synchronization.
TT3021GB
4.6
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4.7
Using and Selecting an Ethernet switch
Depending on the network size and requested package interval (RPI) a suitable switch
must be used. Also if multiple separated networks needs to be connected a switch is
used.
Depending on the actual size of the network different requirements needs to be meet.
Generally using EtherNet/IP with a fair package interval a 1 Gbps switch is typical adequate along with the following features:
- Autonegotiation, full duplex 100 MBit
- Port mirroring for network analyzing and troubleshooting purposes. This feature
makes it possible to route traffic out on a separate port connected to a network analyzer for debugging purposes and general performance monitoring.
The JVL EthernerNetIP module has a small build in 2 port switch use full if a small amount
of motors is connected in a daisy chaining topology.
The disadvantage of this approach is that the package RPI timing is reduced as each motor
needs to handle the incoming traffic for the other motors connected on the line.
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4.8 Objects accessible using Explicit messages
4.8.1
Type definitions:
UINT
16bit
DINT
32bit
STR
String of ASCII-chars
4.8.2
Identity object class 0x01
Holds data on different module specific data.
Instance = 1
Attr. ID Access Name
Data type
Description
1
R
Vendor ID
UINT
JVL vendor ID = 936 (0x3A8)
2
R
Device Type
UINT
Value=10
3
R
Product code
UINT
Value = 1
4
R
Revision
UINT
Major = 1.byte, minor = 2. byte
5
R
Status
UINT
Status
6
R
Serial number
DINT
Serial number
7
R
Product name
STR
"MAC00-EIx"
See the EtherNet/IP spec. for further details section Vol2 sect.5-3.
Supported Services
0x1
Get_Attribute_All
0x10 Set_Attribute_Single
0xE
Get_Attribute_Single
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4.8 Objects accessible using Explicit messages
4.8.3
Assembly object class 0x04
Holds pre-configured motor registers to be accessed.
Instances
0x64 Write Data to motor register.
0x65 Read motor register data.
Attr. ID Access
3
R/W
4
R
Name
Data type
Get/Set Assembly 20 bytes
Bytes
UINT
Description
Get/Set all assembly data
Bytes transferred in assembly
Supported Services
0x10 Set_Attribute_Single
0xE Get_Attribute_Single
This object can be used to access the predefined registers, configured from MacTalk.
They are also accessed when using the implicit connection cyclically.
If other registers than the one defined in the assembly object needs to be accessed then
the class 0x64 needs to be used.
This class accesses each register in the motor for a more dynamically way of controlling
registers explicitly.
The vendor specific class 0x64 is specified in details later in this chapter.
4.8.4
TCP/IP object class 0xF5
Holds data on different module specific data.
Attr. ID Access Name
Data type Description
1
0xE
Status
DINT
Status bit-field
2
0xE
Configuration capability
DINT
DINTbitfield = 5 (BOOTP+DHCP)
3
0x10
Configuration control
DINT
Bitfield = 0 (use NV-setup)
4
0xE
Physical link object
6 bytes
Size+path
5
0x10
TCP/IP interface zup
22bytes
IP+subnet+GTW info etc.
6
0x10
Host name
DINT
Host name
See the EtherNet/IP spec. for further details section Vol2 sect.5-3.
Supported Services
0x1
Get_Attribute_All
0x10 Set_Attribute_Single
0xE
Get_Attribute_Single
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4.8 Objects accessible using Explicit messages
4.8.5
TCP/IP object class 0xF6
Holds information for a IEEE 802.3 communication interface
Attr. ID Access Name
Data type Description
1
0xE
Interface speed
DINT
Speed in Mbit/s
2
0xE
Interface status
DINT
Bitfield
3
0xE
MAC-address
6 bytes
MAC
4
--
Not Implemented
--
--
5
--
Not Implemented
--
--
6
0x10
Interface Control
DINT
Bitfield
See EtherNet/IP spec. for further details Vol2 sect. 5-4
Supported Services
0x1
Get_Attribute_All
0x10
Set_Attribute_Single
0xE
Get_Attribute_Single
4.8.6
Vendor specific JVL object class 0x64
Holds preconfigured motor registers to be accessed.
Instances
1..255
Motor registers
Attr. ID Access
Name
1
Get/Set register
0xE / 0x10
Data type Description
DINT
Get/Set the specified motor register
Supported Services
0x10
Set_Attribute_Single
0xE
Get_Attribute_Single
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4.9
4.9.1
56
Examples of applications
Introduction
The following pages contains an example of how the MAC motor can be implemented in
an EtherNet-IP network.
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
4.9
4.9.2
Examples of applications
Rockwell RSLogix example 1.
This is a simple example demonstrating the usage of both explicit messages and IO-assemblies to control a JVL MAC400 servo motor.
This example holds a few tags to control the inputs and outputs and a 3 rung ladder program to demonstrate the explicit message usage.
With this example it is possible to control the positioning of the motor using the "Position
-mode" and set profile data such as velocity, acceleration 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 at the EthernetIP tab).
PLC
Motor
PLC
TT3023GB
Motor
The fixed sized assembly instances is divided into 5 read words and 5 write words.
4.9.3
The RSLogix ladder program.
3 different messages for both setting data and retrieving data from the motor. All 3 messages are triggered by seperate variables from the controller tag-list.
TT3024GB
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4.9
4.9.4
Examples of applications
Message descriptions.
Msg1 reads 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.
Register 10: “actual position”
Stores the value
into this tag
TT3025GB
Please notice the mixed decimal and hexadecimal notation used.
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4.9
Examples of applications
Message 2 and 3 (Msg2, Msg3) are writing values to specific registers in the motor. They
are configured in the following way:
Writes (SET_ATTRIBUTE_SINGLE) the value from the “MODE”-tag into the motor register 2 (Operation mode).
Register 2: “actual mode”
4 byte tag value to write in
register 2 (mode register)
Tt3026GB
Please notice the mixed decimal and hexadecimal notation used.
Explicit messages are always 4 bytes long and uses Class 0x64 to access the internal motor 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 situation that does not require a cyclic update timing.
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4.9
4.9.5
Examples of applications
Assembly data
The complete list of Controller tags defined.
Tt3027GB
Write assembly
60
Read assembly
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4.9
Examples of applications
MacTalk IO assembly setup, seen in the controller tag list and read from the PLC when
the connection has been established.
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)
Explanation
TT3028GB
3 - Requested position = 200000
5 - Velocity = 8000 (8000 = 2820 RPM)
6 - Acceleration = 2 Cnt/s² (2 = 543 RPM/s²)
7 - Torque = 512 (512 = 150%)
0 - No Selection (value is not updated)
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4.9
4.9.6
Examples of applications
How to use the Example Step by Step.
Setting up IP addresses and general usage of the Rockwell CompactLogix PLC with the
software package Logix5000 is beyond the scope of this example.
The following guideline is based on the JVL MAC400 motor with the factory setup.
1. Apply 24V, open MacTalk and setup the ethernet settings as required and the IO assembly (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. According
to the following:
Explanation
3 - Requested position = 200000
5 - Velocity = 8000 (8000 = 2820 RPM)
6 - Acceleration = 2 Cnt/s² (2 = 543 RPM/s²)
7 - Torque = 512 (512 = 150%)
0 - No Selection (value is not updated)
TT3031GB
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4.9
Examples of applications
6. Now we will set the motor into an active mode (position mode), find the Controller
tag "Mode" enter 2, find the tag "Set_Mode" enter 1. Now the motor is active and will
start moving to the entered position in the "Servo_1:O_Data[0]" which is assigned to
the requested position register in the motor. When the motor reaches the position
it will stop and hold this position.
From MacTalk the actual mode (see the status-panel) is changed from "Passive" 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.
Logix 5000 tag list
MacTalk status bar
Changing the "Servo_1:O_Data[0]"-tag will result in an immidiate 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 setting. Reset "Set_Mode" to 0 again to stop sending Msg2. -messages.
7. To activate the explicit message Msg1 set the commanded position to a far greater
value. For example 200000000 as illustrated below.
TT3032GB
8. Find the “Read_Pos” -tag and set this to 1. Now the current position of the motor is
seen in the “Actual Position” -tag.
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5
MAC00-EL4 POWERLINK® module
7 MAC00-EL4 POWERLINK® module ............................ 65
7.1
7.2
7.3
7.4
7.5
7.6
7.7
Introduction to POWERLINK® ...............................................66
Protocol specifications .............................................................69
Commisioning ..........................................................................73
Ethernet POWERLINK objects ................................................76
Network Management Services ...............................................82
XML Device Description File ...................................................83
Examples ..................................................................................84
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65
5.1
Introduction to POWERLINK®
Expansion module MAC00-EL4 front plate
TT3044GB
5.1.1
66
Introduction.
Ethernet Powerlink (EPL) is a proven technology, working in real applications worldwide. It embraces standard Ethernet technology and infrastructure, uses standard CAT5
shielded cabling and does not compromise standard Ethernet frames in order to achieve
its results.
Ethernet Powerlink is a truly open technology independently managed by the Ethernet
Powerlink Standardization Group (http://www.ethernet-powerlink.org).
Powerlink operates as a protected segment by design, and connects to a non-deterministic Ethernet network via a gateway/router device. This gateway acts as a defensive barrier against attacks by providing firewall security measures.
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
5.1
Introduction to POWERLINK®
Unlike standard Ethernet, the Slot Communication Network Management (SCNM) ensures that only one node is accessing the network at a time. The schedule is divided into
an isochronous phase and an asynchronous phase. During the isochronous phase, timecritical data is transferred, while the asynchronous phase provides bandwidth 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 Controlled 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 the Object Dictionary
structure to manage the parameters.
For general technical data please see MAC00-EL4 Powerlink - Technical specifications, page
88.
Legacy ethernet
EPL Router
(Gateway)
MN
CN
CN
CN
Ethernet hub
TT3033GB
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67
5.1
5.1.2
Introduction to POWERLINK®
Abbreviations
Following general used terms are useful to know before reading the following chapters.
100Base-Tx
ASnd
CAN
CANopen
CN
EN
EMCY
EPL
EPSG
ID
IP
MAC
MacTalk
MN
NAT
NMT
PDO
PReq
PRes
SCNM
SDO
SoA
SoC
TCP
UDP
XDD
XML
68
100 MBit Ethernet on twisted pairs
Asynchronous Send (POWERLINK frame type)
Controller Area Network
Application layer protocol used in automation.
Controlled Node (slave on Ethernet Powerlink network)
Exception New (flag in POWERLINK frame)
Emergency Object.
Ethernet PowerLink
Ethernet PowerLink Standardisation Group
Identifier
Internet Protocol - IP address ~ the logical address of the device, which is
user configurable.
Media Access Controller - MAC address ~ the hardware address of the device.
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.
Managing Node (master on Ethernet Powerlink network)
Network Address Translation (used in EPL router, to reach destinations
outside EPL segment)
Network Management
Process Data Object (for cyclic data)
Poll Request. A frame used in the isochronous phase of the cyclic communication. With PollRequest, the MN requests the CN to send its data.
Poll Response. A frame used in the isochronous phase of the cyclic communication. The CN responses with a PollResponse frame when it receives a
PollRequest from the MN.
Slot Communication Network Management; In a POWERLINK network,
the MN allocates data transfer time for data from each node in a cyclic manner within a guaranteed cycle time. Within each cycle there are slots for Isochronous Data, and for Asynchronous Data for ad-hoc communication.
The SCNM mechanism ensures that there are no collisions during physical
network access in any of the networked nodes thus it provides deterministic communication via Legacy Ethernet.
Service Data Object (for acyclic data)
Start of Asynchronous (POWERLINK frame type)
Start of Cyclic (POWERLINK frame type)
Transfer Control Protocol (an IP based protocol used widely on the internet)
User Datagram (an IP based protocol used widely on the internet)
File extension for the device description file.
Extensible Markup Language - used for the device description file.
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
5.2
Ethernet Powerlink communication
In an Ethernet POWERLINK network, one of the nodes, for example a PLC, is designated to function as the MN, the master in the network. All other devices operate as CNs,
slaves in the network. The MN defines the clock pulse for the synchronization of all devices and manages the data communication cycle. In the course of one clock cycle within
which all nodes are addressed, the MN sends Poll Requests (PReq) to all CNs, one after
another. They reply immediately to the prompts with Poll Responses (PRes).
The following time phases exist within one cycle:
- Isochronous phase
- Asynchronous phase
- Idle phase
The MN first sends a Start of Cycle Frame (SoC) signal to all CNs to synchronize the devices. Payload data exchange then proceeds in the isochronous phase. The asynchronous
phase, allows the transfer of large packets that are not time-critical, for example parameterisation 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 timeslots in the isochronous phase, in order
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 refer to the Ethernet POWERLINK communication profile specification "EPSG_DS_301_V-1-1-0_01.pdf", available at the EPSG website http://
www.ethernet-powerlink.org.
Managing Node
Asynchronous
Phase
Isochronous Phase
SoC
PReq
PReq
PReq
PRes
to CN 1
to CN 2
to CN n
from MN
PRes
PRes
PRes
from CN 1
from CN 2
from CN n
SoA
Idle Phase
5.2.1
Protocol specifications
Async.
send
Controlled Node
Powerlink cycle
SoC
Start of Cyclic :
PReq
Poll Request :
to CN n
PRes
from CN 1
Sent from MN, multi-cast to all Controlled Nodes
Sent from MN, uni-cast to each Controlled Node
Poll Responce :
Sent from CN, multi-cast to all nodes
PRes
from MN
Poll Responce :
Sent from MN, multi-cast to all nodes
SoA
Start of Acyclic :
Async.
send
Async data :
Sent from MN, multi-cast to all Controlled Nodes
Sent by any CN, invited by Managing Node
TT3035GB
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69
5.2
5.2.2
Protocol specifications
Ethernet POWERLINK® frame structure
POWERLINK messages are encapsulated in Ethernet II frames. The length of the frame
is restricted to the configured size, in order to guarantee the cycle time. Ethernet frames
have a minimum length of 64 bytes and a maximum of 1518 (exclusive preamble). The
Ethernet POWERLINK header contains only 3 bytes. Message type, destination ID and
Source ID. That leaves up to 1497 bytes of payload.
POWERLINK header
8 bytes
14 bytes
1 byte
Preamble Ethernet header Message
type
1 byte
Dest.
ID
-
43 - 1497 bytes
4 bytes
1 byte
Source
ID
Data
Checksum
TT3036GB
5.2.3
Ethernet POWERLINK CN State machine
In Ethernet POWERLINK, a Controlled Node starts up by a common initialization process. All the states are valid when the device is powered and they are sub-states of the
NMT_GS_POWERED superstate.
NMT_GS_INITIALISATION
After system start, the device automatically assumes this state and network functionality begins. NMT_GS_INITIALISATION and all its sub-states are only internal states
of the device. In the NMT_GS_RESET_CONFIGURATION sub-state, the node address of the device is identified and it is determined whether it is configured as a MN
or CN. The JVL MAC00-ELx is a CN and thus, it enters the NMT CN state machine
in the NMT_GS_COMMUNICATING super-state.
NMT_GS_COMMUNICATING
NMT_CS_NOT_ACTIVE
This is a non-permanent state that allows a starting node to recognize the current
network state. Timeout 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_OPERATIONAL_1 is triggered by a SoA or SoC frame being received. In this state CN may send a frame only if the MN has authorized it to do
so by a SoA command. There is no PDO communication in this state. Receiving
a SoC frame triggers the transition from NMT_CS_PREOPERATIONAL_1 to
NMT_CS_PREOPERATIONAL_2.
The NMT_CS_PREOPERATIONAL_2
In this state PReq and PRes data may be invalid because PDO mappings may differ. In NMT_CS_EPL_MODE, error recognition (for example, loss of SoC or
PReq) always triggers the transition to NMT_CS_PREOPERATIONAL_1.
The NMT_CS_READY_TO_OPERATE
In this state, the CN signals that it is ready to operate to the MN. It responds to
the PReq query of the MN by sending a PRes frame.
The NMT_CS_OPERATIONAL
NMT StartNode command triggers the transition from
NMT_CS_READY_TO_OPERATE to the NMT_CS_OPERATIONAL. This is
the normal operating state of the CN.
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5.2
Protocol specifications
The NMT_CS_STOPPED
This state is used for controlled shutdown of a selected CN while the system is
still running. In this state, the CN does not participate in cyclic frame exchange,
but it still observes SoA frames.
NMT_GS_
INITIALISATION
NMT_CS
NMT CN State Machine
NMT_CS_
NOT_ACTIVE
NMT_CS_
BASIC_ETHERNET
NMT_CS_EPL_MODE
NMT_CS_
PRE_OPERATIONAL_1
Error condition
NMT_CS_
PRE_OPERATIONAL_2
NMT_CS_
READY_TO_OPERATE
NMT StartNode
NMT_CS_
OPERATIONAL
NMT StopNode
NMT_CS_
STOPPED
TT3037GB
Communication type
No
communication
Listen only
Legacy Ethernet
POWERLINK
Reduced cycle
POWERLINK Cycle
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71
5.2
5.2.4
72
Protocol specifications
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 process 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 transmission.
-
NMT response services. Used for identity and status signalling during start-up and
runtime.
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
5.3
5.3.1
Commisioning
Indicator LED’s - description.
The LED's are used for indicating states and faults of module. There is one power LED,
two link/activity LED's (one for each Ethernet connector), and 2 status LED's.
Indicator and label overview
General status indicator
Error indicator
Power indicator
Line activity indicator
Line activity indicator
Hardware serial number
MAC address
TT3045GB
LED indicator descriptions
LED Text Colour Constant
off
No valid
Ethernet
connection.
No valid
Ethernet
connection.
Constant Blinking
on
Ethernet
is
connected.
Ethernet
is
connected.
Single
flash
Double
flash
Flickering
-
-
-
-
Activity on
line
-
-
-
-
Activity on
line
L/A IN
Green
L/A OUT
Green
STATUS
Green
NMT_CS NMT_CS
NMT_CS_N NMT_CS_O NMT_CS
_PREOP _PREOP
OT_ACTIV PERATION- _STOPP
ERATION ERATION
E
ED
AL
AL1
AL2
ERROR
Red
No error
PWR
Green
Power is apPower is not plied to both
applied.
motor and
module.
Error
Triple
flash
NMT_CS
NMT_CS_B
_READY
ASIC_ETHE
_TO_OP
RNET
ERATE
Booting
error
Power is
applied to
module but
no communication 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 followed by 1s off period. Triple flash: Two flashes with a period of 200ms followed by 1s off period.Flickering: Rapid flashing with a period of approx. 50ms
(10 Hz).
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5.3
Commisioning
5.3.2
Mechanical installation
The network cables must be connected to the two M12 connectors (marked "L/A IN"
and "L/A OUT") on the module. The cable from the MN is connected to either of the
two ports. In the line topology, if there are more slave devices in the same line, the next
slave device is connected to the second port. If there is a redundant ring, the second port
of the last slave device is connected to the second port of the MN.
See also the illustration in the chapter Introduction., page 66
Standard CAT 5 FTP or STP cables can be used. It is not recommended to use UTP cables in industrial environments, which is typically very noisy.
5.3.3
Quick start
This section describes the steps to configure the PLC, B&R X20 CP1485, with B&R Automation Studio PC software, so that it can be used to control the drive.
Set node ID
1. Connect the RS232 communication cable.
2. Apply power to the motor, and make sure the PWR LED is lit.
3. Open MacTalk and select the "MAC00-EL (Powerlink)" tab.
4. Change the last number in the IP address (= node ID), to one that doesn't conflict
with other devices on the subnet.
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
on MAC00-ELx.
7. Connect power to the X20, and communication cable from the PC with B&R Automation Studio installed to the X20 PLC (either Ethernet or RS232).
8. Make sure power is applied to all devices.
PLC configuration
9. Create a new project in Automation Studio for your PLC, or open an existing project.
See B&R documentation for more information.
10. In the Project Explorer window, open the Physical View tab
11. Right-click the node representing the CPU (in this example, X20CP1485-1), and in
the pop-up menu, select Open IF3 POWERLINK Configuration. The POWERLINK
Configuration window is opened.
12. Make sure that "Activate POWERLINK communication" is set to "on".
13. Close the window and save changes.
Add the XDD file (contains info on the capabilities of the device)
14. In the Tools menu of Automation Studio, select Import fieldbus device...
15. In the Open window find and select the "00000117_MAC00-ELx.xdd" file, and click
Open.
This link can be used : http://www.jvl.dk/default.asp?Action=Details&Item=428
(continued next page)
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5.3
Commisioning
Associating with MAC00-ELx
16. In the physical view of the project explorer window, right click the CPU node and
click Open POWERLINK in the pop-up menu.
17. Right click IF3 in the opened CPU POWERLINK window, and click Insert in the popup menu.
18. Select "MAC00-ELx", situated under POWERLINK devices, and click Next.
19. Enter the node ID of the device (set earlier with MacTalk) and optionally a name, and
click Next.
20. The "MAC00-ELx" should now be visible in the physical view of the project explorer
window.
Building project and transfer to PLC
21. Select 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 picture.
27. If Force is checked for the cyclic outputs, then it's possibly to set register values in
the Force Value column that is transferred to the motor.
Start motor
28. If the default register settings is not changed it is possibly to start motor by entering
values in the Force Value column.
29. Enter 1023 in OUT_FourthEntry (Torque = 300%).
30. Enter 1000 in OUT_ThirdEntry (477 RPM if MAC140).
31. Enter 1 in OUT_FirstEntry (Mode = Velocity).
TT3034GB
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5.4
5.4.1
Ethernet POWERLINK objects
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 master 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.
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
Object index Register no.
0
1
2
3
4
2
10
12
169
35
Motor register short Motor register description
MODE_REG
P_IST
V_IST
VF_OUT
ERR_STAT
Operating mode
Actual position
Actual velocity
Actual torque
Status bits
Default registers in receive PDO 21 (Master > Slave)
Object index Register no.
0
1
2
3
4
5.4.2
2
3
5
7
-
Motor register short Motor register description
MODE_REG
P_SOLL
V_SOLL
T_SOLL
-
Operating mode
Target position
Maximum velocity
Maximum torque
-
Minimum cycle time
The minimum cycle time is the minimum amount of time between each cyclic request
(PDO) on the Ethernet.
If operating with values lower than those listed, data loss will occur.
No. of motor registers
transmitted in each
direction
1/1
2/2
3/3
4/4
5/5
Motor series
MAC050 - MAC141
Motor series
MAC400 and MAC800
3mS
6mS
9mS
12mS
15mS
360µS
395µS
430µS
465µS
500µS
The minimum cycle times, is only valid if not sending any SDO requests while in any operating mode. 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 1.5ms if MAC050-MAC141, and
with 30µs if MAC400-MAC800.
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5.4
Ethernet POWERLINK objects
5.4.3
Service Data Objects
Service Data Objects (SDOs) are mainly used for transferring non time-critical data, for
example, identification, configuration and acyclic data.
5.4.4
Object Dictionary
An important part of the protocol is the Object Dictionary, which is different objects
specifying the data layout. Each object is addressed using a 16-bit index and possibly a sub
index. There are some mandatory objects and some manufacturer specific objects. The
objects in the Object Dictionary can be accessed with SDO services.
Mandatory objects:
Name
Index
(hex)
Sub
Index
Data Type
Read
only
Default
0x0
Device type
1000
UNSIGNED32
X
Error
Register
1001
UNSIGNED8
X
0
1
2
3
4
5
6
7
Identity
object
1018
IDENTITY
X
0
1..4
X
4h
1
UNSIGNED32
X
0x0117
2
UNSIGNED32
X
0x0200
3
4
UNSIGNED32
UNSIGNED32
X
X
0x20020
Description
Contains information about the
device type.
This is the mapping error register,
and it is part of the emergency object. If some of the sub index are
high, an error has occured.
Generic error. Mandatory
Current
Voltage
Temperature
Communication (Overrun)
Device profile specific
Reserved
Manufactor specific
Contain general information about
the module
Number of entries. Mandatory
Vendor ID, contains a unique value
allocated to each manufactor.
117h is JVLs vendor ID.
Mandatory.
Product Code, identifies a specific
device version. The MAC00-EL4
has the product code 200h
Revision number.
Serial number
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77
5.4
5.4.5
Ethernet POWERLINK objects
Manufacturer specific objects.
The manufacturer specific objects, provides access to all module registers, and all motor
registers, as well as a module command object.
Index
(hex)
Sub
Index
Type
Read
only
Module
command
2010
0
UNSIGNED32
Module
parameters
2011
0
UNSIGNED8
X
1
UNSIGNED32
X
High 16 bit of MAC address (placed
in low 16 bit of word)
2
UNSIGNED32
X
Low 32 bit of MAC address
3
UNSIGNED32
4
UNSIGNED32
X
255.255.255.0
Net mask
5
UNSIGNED32
X
192.168.100.254
Gateway
6
UNSIGNED32
0x0
Setup bits
7
UNSIGNED32
0
Digital outputs on module
8-15
UNSIGNED32
-
Reserved for future use
16
UNSIGNED32
2
Register no. to place in TxPDO 21,
position 1.
17
UNSIGNED32
10
Register no. to place in TxPDO 21,
position 2.
18
UNSIGNED32
12
Register no. to place in TxPDO 21,
position 3.
19
UNSIGNED32
169
Register no. to place in TxPDO 21,
position 4.
20
UNSIGNED32
35
Register no. to place in TxPDO 21,
position 5.
21
UNSIGNED32
-
Reserved for future use
22
UNSIGNED32
-
Reserved for future use
23
UNSIGNED32
-
Reserved for future use
24
UNSIGNED32
2
Register no. to place in RxPDO 21,
position 1.
25
UNSIGNED32
3
Register no. to place in RxPDO 21,
position 2.
26
UNSIGNED32
5
Register no. to place in RxPDO 21,
position 3.
27
UNSIGNED32
7
Register no. to place in RxPDO 21,
position 4.
28
UNSIGNED32
0
Register no. to place in RxPDO 21,
position 5.
29
UNSIGNED32
-
Reserved for future use
30
UNSIGNED32
-
Reserved for future use
31
UNSIGNED32
-
Reserved for future use
32
UNSIGNED32
X
-
Module serial no.
33
UNSIGNED32
X
-
Module hardware version
34
UNSIGNED32
X
-
Module software version
35
UNSIGNED32
X
-
No. of internal motor
communication timeouts
36
UNSIGNED32
X
-
No. of retry frames to motor
37
UNSIGNED32
X
-
No. of discarded frames
to the motor
Default
Module command object. See possible commands below.
63
192.168.100.xxx
2012
Subindex count
IP address / Node ID (The least significant 8 bits is node ID)
38
UNSIGNED32
X
-
Total no. of frames to motor
39-46
UNSIGNED32
X
-
Reserved for future use
47
UNSIGNED32
X
-
Digital inputs on module
48
UNSIGNED32
X
-
Status bits
49-63
Motor
parameters
Description
Reserved for future use
0
UNSIGNED8
N
UNSIGNED32
X
254
Subindex count
Access to the motor parameter n
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 afterwards.
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5.4
Ethernet POWERLINK objects
5.4.6
Object 0x2010 - Subindex 0
This object is used for sending commands to the module and is write only. The possible
commands are listed in the table below.
Command no.
Function
0x0
0x001
0x010
0x101
No operation
Reset the module
Save parameters to flash
Simultaneous reset of the motor and the module
Instructs the motor to save in flash memory, and do a resync of internal communication afterwards.
Bit 0-30 of the command is transmitted to the motor register 211 (motor command register)
0x110
0x80000000 0xFFFFFFFF
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.
5.4.8
Object 0x2011 - Subindex 1 MAC address MSB.
The 2 most significant bytes of the module MAC address is placed here.
5.4.9
Bit
16-31
0-15
Output
Reserved
16 Most significant bits of MAC address.
Object 0x2011 - Subindex 2 MAC address LSB.
The 2 most significant bytes of the module MAC address is placed here.
5.4.10
5.4.11
Bit
0-31
Output
32 Least significant bits of MAC address.
Object 0x2011 - Subindex 3 IP address.
This is the combined IP address and node ID of the device. Only the node ID part is
writeable the rest of the IP address is fixed.
Bit
24-31
16-23
8-15
0-7
I/O
192
168
100
Node ID
Object 0x2011 - Subindex 4 Netmask.
This is the netmask of the device. The netmask is fixed.
Bit
24-31
16-23
8-15
0-7
I/O
255
255
255
0
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79
5.4
5.4.12
5.4.13
5.4.14
Ethernet POWERLINK objects
Object 0x2011 - Subindex 5 Gateway.
This is the gateway address of the device. The gateway address is also fixed.
Bit
24-31
16-23
8-15
0-7
I/O
192
168
100
254
Object 0x2011 - Subindex 6 Setup bits
This register is used to setup how the module should react on different events.
Bit
1-31
0
Output
Reserved
0 : Ethernet error handling = motor set passive mode
1 : Ethernet error handling = motor set velocity to 0
Object 0x2011 - Subindex 7 Digital inputs on module
With this object the status of the 4 digital inputs can be read.
Bit
4-31
Input
Reserved
3
2
1
0
IN4
IN3
IN2
IN1
Note: Please notice that the number of inputs available is depending on which version of
the module which is used.
5.4.15
Object 0x2011 - Subindex 15 Command register
Analogue to writing to object 0x2010. But this can be mapped in the RxPDO 21 if desired.
5.4.16
Object 0x2011 - Subindex 16-23 Register no. to place in TxPDO 21
These registers contain the numbers that define the registers which are in the TxPDO
21. That is the register's, which is transmitted from slave to master cyclically. If some of
these registers are changed, it is necessary to issue a "save in flash" command and to reboot the device before the changes take effect.
5.4.17
Object 0x2011 - Subindex 24-31 Register no. to place in RxPDO 21
These registers contain the numbers that define the registers which are in the RxPDO
21. That is the register's, which is transmitted from master to slave cyclically. If some of
these registers are changed, it is necessary to issue a "save in flash" command and to reboot the device before the changes take effect.
5.4.18
Object 0x2011 - Subindex 32-38
These registers contain HW, SW and communication information of the module.
5.4.19
Object 0x2011 - Subindex 47 Digital outputs on module
With this object the digital outputs can be controlled.
The value written to this object is directly shown on the digital outputs.
Bit
2-31
Output
*
80
Reserved
1
0
Output2*
Output1*
(O2)
(O1)
The availability of the outputs depends on the actual version of the module used.
Example MAC00-EL4 only support Output 1 (O1).
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
5.4
Ethernet POWERLINK objects
5.4.20
Object 0x2011 - Subindex 48 Status bits
This register is used for miscellaneous information about the module.
Bit
Output
5.4.21
8-31
Reserved
7
1=No communication with
the motor
0-6
Reserved
Object 0x2012
Object 0x2012 are for acyclic view or change of motor registers, se register descriptions
in the the chapter Motor registers, page 89
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81
5.5
Network Management Services
Ethernet POWERLINK Network Management (NMT) is node oriented and follows a
master/slave relationship. MAC00-ELx is administered as an NMT slave by the master.
Ethernet POWERLINK defines five categories of NMT services:
- NMT State Command Services
- NMT Managing Command Services (not supported)
- NMT Response Services
- NMT Info Services (not supported)
- NMT Guard Services (not supported)
NMT State Command Services
The MN controls the state of the CN via NMT State Command Services. See section
Ethernet POWERLINK state machine for more information.
NMT 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 following 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 unrecognized CNs at system startup or after loss of communication. See Appendix: IdentResponse Frame for more information. The StatusResponse Service is used by the MN to query the current status of
CNs that is not communicating isochronously. It is used for error signaling in runtime. If
an error occurs, the EN (Error New) flag in the PRes frame is toggled. This notifies the
MN that an error has occurred and the MN polls the CN for a StatusResponse that includes error information.
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5.6
XML Device Description File
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 available through your local JVL representative and http://www.jvl.dk.
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83
5.7
5.7.1
Examples
Running Velocity control
To use the JVL motor in velocity mode the following registers are basically of interest.
1.
2.
3.
4.
"Mode" - Mode register register 2
"V_SOLL" - Velocity register 5
"A_SOLL" - Acceleration register 6
"Error/Status" - Error and status register 35
So, to control these registers the cyclic data needs to configured.
From MacTalk the setup is configured as this.
The actual velocity is transferred in the 1. word
The 5. word holds the data from the error/status
register. This data is a bitfield structure holding both
motion related information and present error type.
The operation mode is set in the 1. Word,
0=passive mode and 1=Velocity mode.
Use passive mode to stop the motor and
velocity mode to start the motor.
The requested velocity is set in the 3. word
The requested acceleration is set in the 5. word
TT3016GB
With the settings illustrated above we initiate the velocity mode by writing 0x1 to the first
word-value, this is velocity mode.
From the Master the registers is accessed using the PDO21 and accessing the registers
R/W on words 1-5.
Since different PLC's have different methods of implementation the basic steps is described in the following.
1. Set the needed velocity. V_SOLL = V x 2.77 [rpm]
Ex. 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]
Ex. We need the motor to accelerate with 100000 RPM/s² so, A_SOLL = 100000/
271 = 369 cnt/smp².
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 motor will use the acceleration and the velocity just configured.
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JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
5.7
5.7.2
Examples
Running Position control
Running the motor in position control requires that the mode register is set for position
control. The following registers is of particular interest when position mode is used.
1.
2.
3.
4.
5.
6.
7.
8.
"Actual position" -P_IST, register 10
"Actual velocity" -V_IST, register 12
"Follow error" - The actual position error, register 20
"Motor load mean" - average motor load, register 16
"Error/Status" -register 35
"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 the actual positioning occurs.
10 Actual position, P_IST value is sent back in
this word
12 Actual velocity, V_IST is sent back in this word
20 Follow error, the position error
16 Motor load mean. The mean load on the motor
35 Error/Status holds information regarding motion
status and error status/code if any
2
Operating mode is used to enable/disable the motor
Values: Passive mode = 0
Position mode = 2
TT3017GB
5.7.3
3
Requested position, Sets the P_SOLL value.
5
Velocity, sets the V_SOLL requested velocity value
The resolution is 100 RPM = 277 counts/sample
6
Acceleration, requested acceleration
0
Not used - Any register can be inserted here
General considerations
The register 35 in the motor holds information on the actual error/status. So it is crucial
that this register is configured in the cyclic data and thereby obtained and monitored in
the Master. In case of an error situation 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
For a complete register list please see the chapter Motor registers, page 89.
The JVL motor is basically put into a working mode and into a passive mode where the
motor axle is de-energized, by setting register 2 into either 0 = "passive mode" or into
one of the supported modes.
Example.
1= "Velocity mode" / 2= "Position mode" / etc.
So in order to Stop or Start the motor this register can be supported in the I/O data or
by sending an SDO message.
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85
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6
Appendix
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
87
6.1
Technical Data
6.1.1
MAC00-EI4 EthernetIP - Technical specifications
Galvanic isolated, 100MBit, 100Base-Tx, no termination necessary.
Network topology:
Max. 100 m cable between slaves.
Connectors: “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 voltage (CV): 10-25V
Current rating (CV): typical 150mA, max. 250mA
User inputs:
Input impedance: 4.7k
Input current @24V: 5.1mA
6.1.2
MAC00-EC4 EtherCAT - Technical specifications
Galvanic isolated, 100MBit, 100Base-Tx, no termination necessary.
Network topology: Line and tree possibly (line recommended)
Max. 100 m cable between slaves.
Maximum number of slaves: 65535
Pass trough delay: < 4µs.
Connectors: “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 voltage (CV): 10-25V
Current rating @ 24V DC (CV): typical 150mA, max. 250mA
User inputs:
Input impedance: 4.7k
Input current @24V: 5.1mA
6.1.3
MAC00-EL4 Powerlink - Technical specifications
Galvanic isolated, 100MBit, 100Base-Tx, no termination necessary.
Network topology: Line and tree possibly (line recommended)
Max. 100 m cable between slaves.
Maximum number of slaves (CN’s) per segment: 239
Pass trough delay: < (data not ready to be present in this user manual version).
Connectors: “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 voltage (CV): 10-25V
Current rating @ 24V DC (CV): typical 150mA, max. 250mA
User inputs:
Input impedance: 4.7k
Input current @24V: 5.1mA
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JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
6.2
Motor registers
Only MAC400 & 800
When using the RS232 or RS422 serial links, it is possible to access all the internal registers in the motor.
This gives the same possibilities as using the general installation and monitoring program
MacTalk.
In addition to these features, many more are accessible. In total, the MAC motor contains
more than 200 internal registers such as nominal velocity, actual position, etc.
Important note:
All registers can be read without any risk but please note that several registers are not
for the normal user and damage may occur if the contents of these registers is changed.
These registers are marked in grey in the table below.
Main Control
Reg.
no.
Name
Width
Unit
Description
1
PROG_VER.
Long int
-
Shows the actual version of the firmware.
Bit0-5: Minor version
Bit6-12: Major version
Bit13: (if set) Beta version
Bit14: Reserved
Bit15: (if set) MAC400 or MAC800
MacTalk
name
(status bar)
The current MAC motor mode:
(see also register 37 - “Start mode”)
0: Passive
1: Velocity
2: Position
3: Gear Mode
4: Analog Torque (direct)
5: Analog Velocity
6: Analog Velocity/Gear.
7-11: Reserved for special purposes
12: Torque zero search
13: Sensor type 1 zero search
14: Sensor type 2 zero search
16: Analogue velocity (with deadband)
17: Velocity/analogue torque
18: Analogue gear
19: Coil
20: Air cylinder
21: Analogue to position
Mode
Encoder counts
The commanded position
Position
Encoder counts
Offset position for position change
Max velocity
2
MODE_REG
Long int
-
3
P_SOLL
Long Int
4
P_NEW
Long Int
5
V_SOLL
Long Int
Counts/sample/16
Desired velocity 1 RPM=2.77056 counts/sample.
Example: To obtain 100 RPM, V_SOLL must be set to
277.
6
A_SOLL
Long Int
Counts/sample²/16
The desired nominal acceleration.
1000 RPM/s = 3.598133 counts/Sample²
Example: To obtain 100000 RPM/s, A_SOLL must be
set to 360.
Acceleration
7
T_SOLL
Long Int
-
The maximum allowed torque. 0-1023.
1023 = 300% (full peak torque).
Torque
8
P_FUNC
Long Int
Encoder counts
-
-
9
INDEX_OFFSET
Long Int
Encoder counts
Distance from encoder index to ext. sensor
-
10
P_IST
Long Int
Encoder counts
The actual motor position
Actual
position
11
V_IST_16
Long Int
Counts/sample/16
V_IST (actual speed) measured over 16 samples
Same unit as V_SOLL (register 5).
Actual velocity
12
V_IST
Long Int
Counts/sample
Actual velocity. 1RPM=0.17316 counts/sample.
-
13
KVOUT
Fixed 16
-
Overall servo filter inertia factor.
Load
14
GEARF_1
Long Int
-
Gear output factor. Used in gear mode
Input
15
GEARF_2
Long Int
-
Gear input factor. Used in gear mode
Output
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89
6.2
Motor registers
Only MAC400 & 800
Error Handling
Reg.
no.
Name
Width
Unit
Description
MacTalk
name
16
I2T
Long Int
-
Motor temperature calculated. The value is integrated
during motor operation. If it reaches 100% the overload
bit in reg 35 (ERR_STAT bit 0) is set indicating that the
motor torque has passed the allowable continues rating
= nominal torque.
Motor load
(mean)
17
I2TLIM
Long Int
-
Error trip level used for I2T register.
Regenerative
load
18
UIT
Long Int
-
Returned energy from the motor (load). If the value
passes 100% the UIT bit in register 35 (ERR_STAT bit
3) is set indicating that too much energy has been returned from the motor (load). Connect an external
dump resistor or decrease deceleration.
19
UITLIM
Long Int
-
Error trip level used for UIT register
-
20
FLWERR
Long Int
Encoder counts
Actual follow error
Follow error
VDC/74.4713
Logic supply voltage measurement. Logic supply voltage [VDC] = U_24V x 0.013428
Logic supply
EH:Follow error
21
U_24V
Long Int
22
FLWERRMAX
Long Int
Encoder counts
Follow error limit. If the follow error passes this limit the
motor will be stopped and the FLW_ERR in register 35
will be set.
23
UV_HANDLE
Long Int
-
Register to specify action when undervoltage is detected.
Bit 0: (SET_UV_ERR) Error if under voltage
Bit 1: (UV_GO_PASSIVE) Go to passive mode
Bit 2: (UV_VSOLL0) Set speed=0 if u.volt.
Set error bit
Go to passive
Set velocity to 0
24
FNCERR
Long Int
-
Actual function error
Function error
EH:Function error
26
FNCERRMAX
Long Int
-
Function error limit. If the function error passes this limit
the motor will be stopped and the FNC_ERR in register
35 will be set.
27
UVMIN
Long Int
-
Register not used
-
28
MIN_P_IST
Long Int.
Encoder counts
Software position limit - positive
Position limit max
29
DEGC
Long Int.
-
Actual temperature. Degree celcius=DEGC x 0.12207
Temperature
30
MAX_P_IST
Long int.
Encoder counts
Software position limit - negative
Position limit min
-
31
DEGCMAX
Long int.
-
Temperature limit. Same scale as DEGC (reg 29).
If temperature gets higher than this limit the
DEGC_ERR in register 35 is set
32
ACC_EMERG
Long Int
Counts/sample²/16
The maximum allowed deceleration when a fatal error
has occurred. 1000 RPM/s = 3.598133 counts/Sample². Example: To obtain 100000 RPM/s,
ACC_EMERG must be set to 360.
Error acceleration
33
INPOSWIN
Long Int
Encoder counts or
encoder counts/
sample
If the target position or velocity is reached within the tolerance specified in this window, the motor is in position
or at the velocity.
In pos. window /
At vel. window
34
INPOSCNT
Long Int
Samples
The number of samples the motor has to be within the
pos. interval spec. in INPOSWIN.
In pos. count
Motor error status:
Bit 0: (I2T_ERR) Overload
Bit 1: (FLW_ERR) Follow error
Bit 2: (FNC_ERR) Function error
Bit 3: (UIT_ERR) Regenerative error
Bit 4: (IN_POS) In position
Bit 5: (ACC_FLAG) Accelerating
Bit 6: (DEC_FLAG) Decelerating
Bit 7: (PLIM_ERR) Position limits error
Bit 8: (DEGC_ERR) Temperature error (>DEGCMAX)
Bit 9: (UV_ERR) Under voltage error
Bit 10: (UV_DETECT) Low voltage at the high volt bus
Bit 11: (OV_ERR) Overvoltage error. UB>450V
Bit 12: (IPEAK_ERR) Motor over current
Bit 13: (SPEED_ERR) Overspeed - >3600RPM
Bit 14: (DIS_P_LIM) Software position limits disabled
Bit 15: (INDEX_ERR) Internal encoder error
Bit 16: (OLD_FILT_ERR) Filter setting not valid
Bit 17: (U24V_ERR) Control supply has been too low
Bit 18: (SHORT_CIRC) M. Current has been too high
Bit 19: AC (>90VAC) supply applied
Bit 20: -
Overload
Follow Error
Function Error
Regen. Overload
In position
Accelerating
Decelerating
Position Limit
Temp. too high
Under bus volt.
Low bus voltage
Over bus voltage
Peak Error
Overspeed
Internal error 1
Internal error 2
Cntr. Volt unstab.
Short circuit
-
35
90
ERR_STAT
Long Int
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
6.2
Motor registers
Only MAC400 & 800
Power + zero search handling
Reg.
no.
Name
Width
Unit
Description
MacTalk
name
36
CNTRL_BITS
Long Int
-
Internal special bits:
Bit 0: (RECORDBIT) : Controls the samplebuffer
Bit 1: (REWINDBIT) : Controls the samplebuffer
Bit 2: (RECINNERBIT) : Controls the samplebuffer
Bit 3: (RELPOSPSOLL) : Relative move using P_SOLL
Bit 4: (RELPOSPFNC) : Relative move using P_FNC
Bit 5: (SYNCPOSAUTO) : Syncronize int. Position regs
Bit 6: (SYNCPOSMAN) : Same as bit 5 but manually
Bit 7: (MAN_NO_BRAKE) : Disables the brake if set
Bit 8: (SYNCPOSREL) : Offset P_IST with P_NEW
Bit 9: (INDEX_HOME) : Use index after zero search
Reg move type
Reg move type
Resync pos....
Disable brake
Use index aft...
37
START_MODE
Long Int
-
The mode used after power up. See also register 2.
(Mode)
38
P_HOME
Long Int
Encoder counts
Motor position after zero search
Zero search
position
39
HW_SETUP
Long Int
-
Hardware setup bits:
Bit 0: (DIRAWR)
Bit 1: (DIRBWR)
Bit 2: (PULSEOUT)
Bit 3: (XSEL1)
Bit 4: (XPRINP)
Bit 5: (NOFILT)
Bit 6: (INVXDIR)
-
40
V_HOME
Long Int
Counts/sample/16
Speed used during zero search. Speed defined as register 5
Zero search
speed
41
T_HOME
Long Int
-
Torque used for Torque zero search. The sign defines
polarity of the zero search sensor.
Zero search
torque
42
HOME_MODE
Long Int
-
Zero search mode. The type of zero search.
Bit 16: (Home_Done) bit 16.
Zero search
mode
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
91
6.2
Motor registers
Only MAC400 & 800
Registers (P0-7, V0-7 etc.)
Reg.
no.
Name
Width
Unit
Description
MacTalk
name
43
P_REG_P
Long Int
-
-
-
44
V_REG_P
Long Int
-
-
-
45
A_REG_P
Long Int
-
-
-
46
T_REG_P
Long Int
-
-
-
47
L_REG_P
Long Int
-
-
-
48
Z_REG_P
Long Int
-
-
P1
49
POS0
Long Int
Encoder counts
Position register P1. Used with the fastmac protocol or
by the MAC00-R1/3/4 nanoPLC module. See also
P_SOLL (register 3)
51
POS1
Long Int
Encoder counts
Position register P2 - see also register 49.
P2
53
POS2
Long Int
Encoder counts
Position register P3 - see also register 49.
P3
55
POS3
Long Int
Encoder counts
Position register P4 - see also register 49.
P4
57
POS4
Long Int
Encoder counts
Position register P5 - see also register 49.
P5
59
POS5
Long Int
Encoder counts
Position register P6 - see also register 49.
P6
61
POS6
Long Int
Encoder counts
Position register P7 - see also register 49.
P7
63
POS7
Long Int
Encoder counts
Position register P8 - see also register 49.
P8
V1
65
VEL0
Long Int
Counts/sample/16
Velocity register V1. Used with the fastmac protocol or
by the MAC00-R1/3/4 nanoPLC module. See also
V_SOLL (register 5)
66
VEL1
Long Int
Counts/sample/16
Velocity register V2 - see also register 65.
V2
67
VEL2
Long Int
Counts/sample/16
Velocity register V3 - see also register 65.
V3
68
VEL3
Long Int
Counts/sample/16
Velocity register V4 - see also register 65.
V4
69
VEL4
Long Int
Counts/sample/16
Velocity register V5 - see also register 65.
V5
70
VEL5
Long Int
Counts/sample/16
Velocity register V6 - see also register 65.
V6
71
VEL6
Long Int
Counts/sample/16
Velocity register V7 - see also register 65.
V7
72
VEL7
Long Int
Counts/sample/16
Velocity register V8 - see also register 65.
V8
A1
73
ACC0
Long Int
Counts/sample²/16
Acceleration register A1. Used with the fastmac protocol or by the MAC00-R1/3/4 nanoPLC module. See
also A_SOLL (register 6)
74
ACC1
Long Int
Counts/sample²/16
Acceleration register A2 - see also register 73.
A2
75
ACC2
Long Int
Counts/sample²/16
Acceleration register A3 - see also register 73.
A3
76
ACC3
Long Int
Counts/sample²/16
Acceleration register A4 - see also register 73.
A4
T1
77
TQ0
Long Int
-
Torque register T1. Used with the fastmac protocol or
by the MAC00-R1/3/4 nanoPLC module. See also
T_SOLL (register 7)
78
TQ1
Long Int
-
Torque register T2 - see also register 77.
T2
79
TQ2
Long Int
-
Torque register T3 - see also register 77.
T3
80
TQ3
Long Int
-
Torque register T4 - see also register 77.
T4
L1
81
LOAD0
Fixed16
-
Load register L1. Used with the fastmac protocol or by
the MAC00-R1/3/4 nanoPLC module. See also KVOUT
(register 13)
82
LOAD1
Fixed16
-
Load register L2 - see also register 81.
L2
83
LOAD2
Fixed16
-
Load register L3 - see also register 81.
L3
84
LOAD3
Fixed16
-
Load register L4 - see also register 81.
L4
Z1
85
ZERO0
Long Int
-
In position register Z1. Used with the fastmac protocol
or by the MAC00-R1/3/4 nanoPLC module. See also
INPOSWIN (register 33)
86
ZERO1
Long Int
-
In position register Z2 - see also register 81.
Z2
87
ZERO2
Long Int
-
In position register Z3 - see also register 81.
Z3
88
ZERO3
Long Int
-
In position register Z4 - see also register 81.
Z4
Registers 89 to 120 are reserved for future purposes.
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JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
6.2
Motor registers
Only MAC400 & 800
Filters (main 6.th. order servo filter)
Reg.
no.
Name
Width
Unit
Description
MacTalk
name
121
KFF5
Fixed 24
-
-
-
122
KFF4
Fixed 24
-
-
-
123
KFF3
Fixed 24
-
-
-
124
KFF2
Fixed 24
-
-
-
125
KFF1
Fixed 24
-
-
-
126
KFF0
Fixed 24
-
-
-
127
KVFX6
Fixed 16
-
-
-
128
KVFX5
Fixed 16
-
-
-
129
KVFX4
Fixed 16
-
-
-
130
KVFX3
Fixed 16
-
-
-
131
KVFX2
Fixed 16
-
-
-
132
KVFX1
Fixed 16
-
-
-
133
KVFY5
Fixed 16
-
-
-
134
KVFY4
Fixed 16
-
-
-
135
KVFY3
Fixed 16
-
-
-
136
KVFY2
Fixed 16
-
-
-
137
KVFY1
Fixed 16
-
-
-
138
KVFY0
Fixed 16
-
-
-
139
KVB4
Fixed 24
-
-
-
140
KVB3
Fixed 24
-
-
-
141
KVB2
Fixed 24
-
-
-
142
KVB1
Fixed 24
-
-
-
143
KVB0
Fixed 24
-
-
-
144
KIFX2
Fixed 16
-
-
-
145
KIFX1
Fixed 16
-
-
-
146
KIFY1
Fixed 16
-
-
-
147
KIFY0
Fixed 16
-
-
-
148
KIB1
Fixed24
-
-
-
149
KIB0
Fixed24
-
-
-
154
MODEL_POT
Long Int
-
-
-
156
S_ORDER
Long Int
-
-
-
157
OUTLOOPDIV
Long Int
-
-
-
Sample registers
Reg.
no.
Name
Width
Unit
Description
MacTalk
name
158
SAMPLE1
Long Int
-
-
-
159
SAMPLE2
Long Int
-
-
-
160
SAMPLE3
Long Int
-
-
-
161
SAMPLE4
Long Int
-
-
-
162
REC_CNT
Long Int
-
-
-
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
93
6.2
Motor registers
Only MAC400 & 800
Outer loop registers
Reg.
no.
Name
Width
Unit
Description
MacTalk
name
163
V_EXT
Long Int
-
Speed at the external pulseinput (if used)
Velocity of
input
164
GV_EXT
Long Int
-
-
-
165
G_FNC
Long Int
-
-
-
166
FNC_OUT
Fixed 16
-
-
-
167
FF_OUT
Long Int
-
-
-
168
VB_OUT
Long Int
-
-
-
169
VF_OUT
Long Int
-
Actual motor torque. See also T_SOLL (register 7)
Actual motor
torque
170
ANINP
Long Int
-
Analogue input voltage. VDC = ANINP x 0.0048828
Analogue input
171
ANINP_OFFSET
Long Int
-
Analogue input offset. Same scale as ANINP (170)
Analogue input
offset
Inner loop registers
Reg.
no.
Name
Width
Unit
Description
MacTalk
name
172
ELDEG_OFFSET
Long Int
-
-
-
173
PHASE_COMP
Long Int
-
-
-
174
AMPLITUDE
Long Int
-
-
-
175
MAN_I_NOM
Fixed 16
-
-
-
176
MAN_ALPHA
Long Int
-
-
-
177
UMEAS
Long Int
-
-
-
178
I_NOM
Long Int
-
-
-
179
PHI_SOLL
Long Int
-
-
-
180
IA_SOLL
Long Int
-
-
-
181
IB_SOLL
Long Int
-
-
-
182
IC_SOLL
Long Int
-
-
-
183
IA_IST
Long Int
-
-
-
184
IB_IST
Long Int
-
-
-
185
IC_IST
Long Int
-
-
-
186
IA_OFFSET
Long Int
-
-
-
187
IB_OFFSET
Long Int
-
-
-
188
KIA
Long Int
-
-
-
189
KIB
Long Int
-
-
-
190
ELDEG_IST
Long Int
-
-
-
191
V_ELDEG
Long Int
-
-
-
192
UA_VAL
Long Int
-
-
-
193
UB_VAL
Long Int
-
-
-
194
UC_VAL
Long Int
-
-
-
195
EMK_A
Long Int
-
-
-
196
EMK_B
Long Int
-
-
-
197
EMK_C
Long Int
-
-
Bus voltage
198
U_BUS
Long Int
-
Internal busvoltage. 1VDC = 0.888798.
Example: U_BUS = 366 is equal to 325VDC at the internal bus.
199
U_BUS_OFFSET
Long Int
-
-
-
200
TC0_CV1
Long Int
-
-
-
201
TC0_CV2
Long Int
-
-
-
94
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
6.2
Motor registers
Only MAC400 & 800
Diverse
Reg.
no.
Name
Width
Unit
Description
MacTalk
name
202
MY_ADDR
Long Int
-
Motor adress
Motor address
203
MOTOR_TYPE
Long Int
-
Type of the MAC motor
-
204
SERIAL_NUMBER
Long Int
-
The serial number of the MAC motor
-
205
HW_VERSION
Long Int
-
Hardware version
-
206
CHKSUM
Long Int
-
Firmware checksum
-
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
95
96
JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors
7
Index
A
AIN 14
Air Cylinder mode 14
Analogue Input
AIN 14
C
Cables 18
Connectors 15–18
M12 16–18
E
Error output 8
Expansion modules
MAC00-B1/B2/B4 12–18
F
Features 8
G
GND 15, 17
Grounding 15–16
I
In position output 8
Inputs
See also AIN
Multifunction I/O 12, 17
Pulse inputs 12
Introduction
Features 8
IP67 18
M
M12 16–18
MAC00-B1/B2/B4 Expansion Modules
General analogue input (AIN) 14
General hardware aspects 10
MAC00-B4 cables 18
Power supply 13
RS232 15
MacTalk 15
Main Features 8
R
RS232
MAC00-B1/B2/B4 15
Z
Zero search 14, 17
12–18
JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800
97
7
Index
JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800
98
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