JVL MAC050 User Manual page 147

4.4 Expansion Modules MAC00-FC2/FC4
Transmit PDO 25:
With this PDO the motor status, inputs and last error can be read.
This PDO also supports asynchronous transmission. If this PDO is in asynchronous
mode, it will be transmitted every time the run status or inputs are changed.
Byte
Data
Object
4.4.37 Transmission time
Due to the internal communication between the motor and the MAC00-FCx, the PDOs
takes a certain time to process. The following table shows the processing time for the
PDOs
PDO number
Receive PDO
Transmit PDO
* : Note that Transmit PDO21 is faster if P_IST scanning is enabled. (See object 2011h
subindex 8).
** : Note that Transmit PDO22 is faster if V_IST scanning is enabled. (See object 2011h
subindex 8).
If the received PDOs are transmitted faster than the internal processing time, an internal
queue overflow occurs (See emergency object). If the SYNC object interval is smaller
that the processing time of the active transmit PDOs, an internal queue overflow error
occurs.
JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800
0 1
Motor
Inputs Last motor error
Status
2011h, 2011h,
sub 3 sub 1
21 22
8.5ms 21ms
12.5ms 10.5ms
(<1ms)* (<1ms)**
2 3 4
Reserved Reserved Reserved
2011h, sub 4
23 24
<1ms <1ms
10.5ms 10.5ms
5 6
Reserved
25
-
<1ms
7
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