JVL MAC00-EC41 User Manual
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JVL MAC00-EC41 User Manual

Industrial ethernet mis and milxxx (g2) motors
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Industrial Ethernet
User Manual
MAC00-EC4/-EC41, MAC00-EI4/-EI41,
MAC00-EL4/-EL41, MAC00-EP4/-EP41,
MAC00-EM4/-EM41 , MAC00-ES4/-ES41
&
MIS and MILxxx (G2) motors
(Setup and functionality only. Some connector ID's may differ)
JVL Industri Elektronik A/S
LB0056-22GB
Revised 10.1.2019

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Summary of Contents for JVL MAC00-EC41

  • Page 1 Industrial Ethernet User Manual MAC00-EC4/-EC41, MAC00-EI4/-EI41, MAC00-EL4/-EL41, MAC00-EP4/-EP41, MAC00-EM4/-EM41 , MAC00-ES4/-ES41 & MIS and MILxxx (G2) motors (Setup and functionality only. Some connector ID’s may differ) JVL Industri Elektronik A/S LB0056-22GB Revised 10.1.2019...
  • Page 3 Please contact your nearest JVL representative in case of technical assi- stance. Your nearest contact can be found on our web site www.jvl.dk Copyright 2010-2019, 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.
  • Page 4 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 registered trademark and patented technology, licensed by Beckhoff Au- tomation GmbH, Germany.

  • Page 5: Table Of Contents

    Introduction to SERCOS ..........................178 Commisioning ..............................180 Sercos Communication ........................... 196 FSP Drive profile ............................. 207 FSP IO / JVL profile ............................216 Examples ................................. 218 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...
  • Page 6 Appendix ........................257 12.1 Technical Data ..............................258 12.2 Motor registers MAC050 - 141 ........................264 12.3 Motor registers MAC400 - 4500 ........................273 12.4 Motor registers MISxxx ...........................292 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x...

  • Page 7: Introduction

    Introduction JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors...

  • Page 8: Introduction

    • RS232 connection available for monitoring and setup use for the MAC00-Ex4/-Ex41 modules. • RS485 connection available for monitoring and setup use for the MIS/MILxxxxxxExxxx motor. JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors...
  • Page 9 MAC800 users important: Please notice that only MAC800 motors with a serial number newer than 85000 is compatible with the Ethernet modules MAC00-Exx. JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors...

  • Page 10: Module Types

    Install the intended protocol firmware in the module. Apply or changing the label with LED marking and type number of the module. The firmware can be setup as follows (see next page) JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors...
  • Page 11 The module tab has now changed from Powerlink (EL) to EthernetIP (EI). Step 6 The firmware version, MAC address etc. can be monitored on the module tab. TT3039-02GB JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors...
  • Page 12 Ethernet Protocol MAC00-EC4/-EC41 MIS/MILxxxxxxECxxxxx EtherCAT MAC00-EI4/-EI41 MIS/MILxxxxxxEIxxxxx EtherNET / IP MAC00-EL4/-EL41 MIS/MILxxxxxxELxxxxx EtherNet POWERLINK MAC00-EM4/-EM41 MIS/MILxxxxxxEMxxxxx Modbus TCP MAC00-EP4/-EP41 MIS/MILxxxxxxEPxxxxx Profinet IO MAC00-ES4/-ES41 MIS/MILxxxxxxESxxxxx Sercos III JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors...

  • Page 13: How To Find Fw/Hw Version At Product

    The firmware version in the motor can be seen at the green text in the bottom of the picture. HW version TT3114-01GB FW version JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors...
  • Page 14 JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors...

  • Page 15: General Hardware Description

    General Hardware description Only MAC JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 16: Hardware Introduction

    Hardware introduction Only MAC 2.1.1 Overall hardware description All internal and external main connections can be seen in the illustration below. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 17: I/O Descriptions

    Can be used as general input which can be read over the Ethernet interface. MAC00-Ex41 offers in total 4 digital inputs (IN1, IN2, IN3 and IN4). JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 18 Please notice that no multifunction I/O’s are available if mounted in a MAC050- MAC141. • “PWR” connector. 24V supply for the internal control circuitry in the motor. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 19 Control Volt. Mains 115 or 230VAC Main supply MAC400 Motor with MAC00-Ex4 Power Max. 26VDC ! Supply Control Volt. Mains 115 or 230VAC Main supply TT3011GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 20 MAC00-Ex4 (basic version) connector description, page 22. Please notice that analogue input 2 (AIN2) is only available at MAC00-Ex41. Please no- tice that AIN2 is not available if mounted in a MAC050-MAC141. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 21 A finished RS232 cable also exist. Please see Cables for the MAC00-Ex4 (basic version), page 26 or Cables for the MAC00-Ex41 (extended I/O version), page 27 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 22: Connector Description

    * 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 for MAC and MIS motors...
  • Page 23 1, 2, 3 and 4 are all fully independently isolated from each other. Group 1 correspond to the hous- ing of the motor which may also be connected to earth via the DC or AC input supply. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 24 * 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 for MAC and MIS motors...
  • Page 25 DC or AC input supply. ** No connection when module is mounted in a MAC050-MAC141. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 26: Cable Accessories

    Important: Please note that the cables are a standard type. They are not recommended for use in ca- ble 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 for MAC and MIS motors...
  • Page 27 Important: Please note that the cables are a standard type. They are not recommended for use in ca- ble 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 for MAC and MIS motors...
  • Page 28 Blokken 42 • DK-3460 Birkerød M12 shl cable 4 pin male 5m Approved by: Drawn by: Tel: +45 4582 4440 Ethernet D-Coded RJ45 Fax: +45 4582 5550 - BVJ PCR/BVJ JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 29 EITHER the “BYPASS” OR the “COM” connector. Not both. 36.0mm [1.42 inch] 54.0mm [2.126 inch] = Mounting holes 5.0mm [0.197inch] Ø4x8mm [Ø0.16x0.32inch] Ø4/8mm [Ø0.16/0.32inch] 77.0mm [3.031inch] 112.0mm [4.409inch] 118.0mm [4.646inch] TT3088-01GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 30 PA0190 is relevant when PA0190 cable WI1000-M12F8TxxN used with the MAC00-Ex41 is used with the Ethernet modules. MAC00-Ex41 Ethernet connection 8 Pin Female modules. cable WI1000-M12F8TxxN JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 31 Cable accessories Only MAC Diagram of the internal details in the PA0190 Junction Box. TT3090-01GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 32 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 33: Ethercat® Users Guide

    EtherCAT® Users Guide JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 34: Introduction To Ethercat

    CANopen defines Service Data Objects (SDO), Process Data Objects (PDO) and the Object Dictionary structure to manage the parameters. Further information about Eth- erCAT®, is available from the EtherCAT® technology group http://www.ethercat.org. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 35 (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 for MAC and MIS motors...

  • Page 36: Protocol Specifications

    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). JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 37 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. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 38 Object Dictionary in the adapter module, in addition to communica- tion objects for exchanging cyclic process data and acyclic messages. In addition to DS301 and the default JVL profile, the MAC00-ECx also supports the DSP402 drive profile CiA® DSP-402 drive profile, page 53.
  • Page 39 This is done with a PLL circuit which takes a little time to settle. But when settled it has a maximum jitter of ±1μs. Settle time of PLL: Cycle time Typical settle time Max. settle time 2.4s 2.6s JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 40: Commisioning

    1s. Double flash: Two flashes with a period of 200ms followed by 1s off period. Flickering: Rapid flash- ing with a period of approx. 50ms (10 Hz). JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 41 4. Start TwinCAT - system manager on the master, and make sure that a proper Ether- net I/O device is appended (consult your TwinCAT manual). 5. Right click the I/O device, and select "scan boxes". TT3004GB Continued next page JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 42 6. The device should now appear in the left side of the TwinCAT window, with a tiny JVL logo. 7. Press F4 (Reload I/O devices), and select the JVL device on the left side of the win- dow. 8. The "L/A IN" LED at the MAC module or "L2"...
  • Page 43 The "Synchron with Sync0 Event" mode is only accessible in the MIS/MIL and in the MAC00-ECx if mounted in a MAC400+ motor. The MAC050-141 only supports the "Free run" mode. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 44 0x14. Please see Register 15 - Command register, page 231 for information about the module command register, and chapter 2 for how to use the general module I/O's. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 45: Ethercat® Objects

    (=983040 in Mactalk) in the cyclic write list and send commands this way. For a list of commands for the module command register please refer to Register Over- view, page 226. Continued next page JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 46 (=983040 in Mactalk) in the cyclic write list and send commands this way. For a list of commands for the module command register please refer to Register Overview, page 226 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 47 MODULE registers can be appended as the last registers in the list, at no extra timing cost. Motor register 35 shall be in the cyclic read list, as it is also used internally. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 48 SLAVE_ERR Slave error 0x8311 I2T_ERR Overload 0x8331 FNC_ERR Function error 0x8480 SPEED_ERR Overspeed 0x8481 Closed Loop Closed loop error 0x8611 FLW_ERR Follow error Continued next page JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 49 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. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 50 IDENTITY Supported communication types ager Commu- nication Type UNSIGNED8 Number of entries UNSIGNED8 Mailbox out UNSIGNED8 Mailbox in UNSIGNED8 Output process data UNSIGNED8 Input process data JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 51 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 for MAC and MIS motors...
  • Page 52 EtherCAT® master and contains information on the supported com- munication 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\".

  • Page 53: Cia® Dsp-402 Drive Profile

    3.5.2 Selecting DSP-402 drive profile As default the JVL EtherCAT module uses the CiA 402 drive profile. But if it - for some reason - is not selected, then enable it this way: In MacTalk in the Ethernet tab the checkbox is checked, and ”Enable DSP402 drive profile”...
  • Page 54 None of the parameters can be saved to flash in the module. The following table shows the additional object dictionary defined for DSP-402 support. Continued next page JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 55 Calc and copy time 20000  Cycle time too small ‐ Sync error Bool False Device data 6402 Motor type 6403 Motor catalogue number MACxxx 6404 Motor manufacturer JVL Industri Elektronik A/S 6405 http motor catalogue  www.JVL.dk address 6502 Supported drive modes 0x00000025 Continued next page JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 56 6061 Modes of operation display RO, P ‐ 6072* Max torque RW, P 1000 607E Polarity Position parameters 6064 Position actual value RO, P ‐ 6067 Position window 6068* Position window time 607A Target position RW, P ‐ Continued next page JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 57 String, ”I” = Integer, ”U” = Unsigned integer, figures = number of bits. “RO” Read Only, ”RW” = Read and Writeable, ”P” = PDO map able. “Boolean” - Only available in MAC00-ECx. Only available with MAC400+ and MIS/MILxxx JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 58 Switch on Operation enabled Fault Voltage enabled Yes  Quick stop Yes  Switch on disabled Warning Yes (Only in MIS/MILxxx) Manufacturer specific ‐ Remote ‐ Operation mode specific Yes (Target reached/Status toggle) Internal limit active Yes (Only in MIS/MILxxx = Position limit active) Operation mode specific Yes (Homing done/Set point ack/Drive follows the  command value) Operation mode specific Yes (Following error) 14‐15 Manufacturer specific ‐ JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 59 3.5.6 Supported values of quick stop option code (object 0x605A) Meaning Supported Disable drive function Slow down on slow ramp and transit into Switch On Disabled Slow down on quick ramp and transit into Switch On Disabled Slow down on current limit and transit into Switch On Disabled No/Same as 2 Slow down on voltage limit and transit into Switch On Disabled No/Same as 2 Slow down on slow ramp and stay in quick stop active Yes  Slow down on quick stop ramp and stay in quick stop active Slow down on current limit and stay in quick stop active No/Same as 6 Slow down on voltage limit and stay in quick stop active No/Same as 6 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 60 When selecting the DSP-402 drive profile the setup and functioning of the PDO’s is very different from the default JVL profile. In the DSP-402 drive profile there is one PDO in each direction. Each PDO can hold up to eight objects and the PDO’s are fully dynamic and is altered in TwinCAT, in the “Process data”...
  • Page 61 “reload devices” if the “PDO configuration” checkbox is checked. TT3081GB For further information about PDO configuration please consult the appropriate manual for the PLC system used. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 62 0x6091 sub index 2 Gear ratio / Shaft revolutions 0x6092 sub index 1 Feed constant / Feed 38956 0x6092 sub index 2 Feed constant / Shaft revolutions Please note that it is not necessary to set the encoder resolution. This is automatically set by the module. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 63 The maximum slippage error is not supported in this mode. Please note: • The torque limit that is used during the profile can be set via object 6072h. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 64 Current position = home position (obsolete) Position actual = Home offset For a comprehensive description of the homing modes 3-37, please consult the CiA DSP402 version 3.0. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 65 16ms when using DSP-402. Step 1-3. Select the drive and press the “Startup” tab, then press the “New” button, as shown in the below picture. TT3094-01GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 66 L1 (object 2012 subindex 81) is used to select the load factor when the mode is started. If a different load factor is required, this register must be set correctly. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 67 Then press the “Process Data” tab, select “RxPDO” and then right click on Index 0x607A and select “Delete”. Answer yes to the confirmation. See steps in the picture below. TT3097-01GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 68 Then right click in the bottom of the “PDO Content” and select “Insert”, as shown be- low. TT3098-01GB Step 9-10. Choose object 0x60FF from the list and press OK TT3099-01GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 69 The shift time is the nominal time the cyclic EtherCAT frames are sent before the sync0 pulse is activated. At normal circumstances this setup should not be changed, as it will affect all the devices in the network. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 70 TT3101-01GB Step 4-6. Select “Distributed Clocks”, change the “Percent of cycle time” to the needed setting (10% - 40%) and press the “OK” button. TT3102-01GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 71 Select the drive, then select the “EtherCAT” tab and press the “Advanced Settings” but- ton. TT3103-01GB Step 4-6. Select “Distributed Clocks”, change the “Shift time” “User defined” to the needed set- ting and press the “OK” button. TT3104-01GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 72 CiA® DSP-402 drive profile 3.5.13 AL status codes. When the JVL motors are set in OP mode for the first time after power-up, with “DC Synchron with Sync0 Event” selected, then the JVL motor can return a status code to the AL register.

  • Page 73: Examples

    Examples 3.6.1 Running Velocity control (JVL Profile) To use the JVL motor in velocity mode the following registers are basically of interest. 1. "Mode" - Mode register register 2 2. "V_SOLL" - Velocity register 5 3. "A_SOLL" - Acceleration register 6 4.
  • Page 74 Motor registers MAC050 - 141, page 264 and Motor registers MAC400 - 4500, page 273 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.
  • Page 75 Startup mode should be set to position, for the motor to stay in position after the homing sequence. And this setting should also be saved in flash. TT3084GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 76 • Wait for register 35 "Error status" bit 4 to be active =IN_POSITION. (Indicates that homing is finished). • Then change "Requested_Mode" to whatever needed. The blocking of cyclic writes to the motor is then released by the module. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 77 Write the value 0x0000 00010 (= 16 dec.) to object 0x2010. Save motor parameters to flash: Write the value 0x0000 00110 (= 272 dec.) to object 0x2010. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 78 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 79: Ethernetip Users Guide

    EthernetIP Users Guide JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 80: Introduction To Ethernetip

    The JVL implementation is done in a way that minimizes the complexity of getting a sys- tem up and running but still utilizes the benefits of industrial ethernet.
  • Page 81 Media Access Controller - MAC address ~ the hardware address of the de- vice. MacTalk 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.
  • Page 82 Module registers 0x65 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 approximately.) Message router object class 0x02 Handles all messages to/from object's in the device.

  • Page 83: Using None Cyclic Messages

    UINT Status Serial number DINT Serial number Product name “MAC00-EIx” See the EtherNet/IP spec. for further details section Vol2 sect.5-3. Supported Services Get_Attribute_All 0x10 Set_Attribute_Single Get_Attribute_Single JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 84 These settings can be read from the motor using the service 0xE, Get attribute single and the motor will return the 22 bytes of the current setting. Changing the settings can be done by using the service 0x10, set attribute single. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 85 Please notice: Please find a complete list of register descriptions in the appen- dex. Motor registers MAC050 - 141, page 264 and Motor registers MAC400 - 4500, page 273 and Motor registers MISxxx, page 292 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 86 0xF5, 0xF6. These classes are explained in details in the EtherNet/IP standard (obtained from www.ODVA.org) and in For further info please See “Examples” on page 106. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 87 1 - 255 accesses motor registers 256-511. This means instance 1 accesses motor register 256, instance 2 accesses motor register 257 and so forth. For further information about the use, please refer to Vendor specific JVL object class 0x64, page 85...

  • Page 88: Using Cyclic I/O-Messages

    The JVL assembly consists of 8I/O words that are freely configurable. This means that 8 input motor registers can be selected and another 8 motor registers for output purposes.
  • Page 89 Motor register 35 shall be in the cyclic read list, as it is also used internally. ** Restrained by the EthernetIP protocol it self. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 90 Using cyclic I/O-messages 4.3.3 Cyclic data in the PLC The complete list of Controller tags defined. Tt3027GB Write assembly Read assembly JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 91 6 - Acceleration = 2 Cnt/s² (2 = 543 RPM/s²) 7 - Torque = 512 (512 = 150%) 0 - No Selection (value is not updated) TT3028GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 92: Commissioning

    • Concerning AC high voltage supply for the MAC motor please refer to the general MAC motor user manual (LB0047-xx) The general MAC or MIS/MIL motor user manual can be downloaded from http:// www.jvl.dk JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 93 Notes: Blinking: Flashing with equal on and off periods of 200ms (2.5Hz). Flickering: Rapid flashing with a period of approximately. 50ms (10 Hz). JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 94 A label at the front plate of the module also indicate the MAC-address. Basic use of MacTalk is described in the MAC-motor manual (lit. no. LB0047-xxGB) If DHCP is enabled, then make sure a DHCP server is available on the same local network. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 95 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 as- sembly (cyclic data setup) according to the following: 2.
  • Page 96 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. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 97 4.4.4 How to setup a Rockwell RSLogix5000 Project. After creating a new project in the RSLogix5000 application the JVL motor must be add- ed to the Ethernet bus-system in the project. This is done by right clicking the “Ethernet-Module” icon in the project manager as illus- trated below: Select “New Module”...
  • Page 98 The IP-address illustrated is the factory default and may be changed according to the lo- cal settings. After pressing “Ok” the JVL motor is added to the project and can now be reached by the PLC. A demonstration video showing how to set-up the system can be seen using this link: http://www.jvl.dk...

  • Page 99: Implementation Guidelines

    Implementation guidelines 4.5.1 Introduction The following chapters describe the typical usage of the JVL Motor and which registers to use in the different applications. The chapter should be considered as a general guideline to get started with the EthernetIP integration of the JVL Motor.
  • Page 100 Implementation guidelines 4.5.2 Running Velocity control To use the JVL motor in velocity mode the following registers are basically of interest. 1. “Mode” - Mode register 2 2. “V_SOLL” - Velocity register 5 3. “A_SOLL” - Acceleration register 6 4. “Error/Status” - Error and status register 35 So, to control these registers the assembly object needs to configured.
  • Page 101 MAC050 - 141, page 264 and Motor registers MAC400 - 4500, page 273 or Motor registers MISxxx, page 292. 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.

  • Page 102: Configuration With Explicit Messages

    Configuration with explicit messages Basically a JVL motor works by loading a configuration into RAM memory from the none 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.
  • Page 103 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). JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 104 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. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 105: Using And Selecting An Ethernet Switch

    The JVL EthernerNetIP module has a small build in 2 port switch useful if a small amount of motors is connected in a daisy chaining topology.

  • Page 106: Examples

    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).
  • Page 107 10) and stores the 4 byte value in the “ACTUAL POSITION” tag. Stores the value into this tag Register 10: “actual position” TT3025GB Please notice the mixed decimal and hexadecimal notation used. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 108 Instance = 2 points to the motor active mode -register. Explicit messages are typical used for configuration purpose or for rare data update situ- ation that does not require a cyclic update timing. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 109 Startup mode should be set to position, for the motor to stay in position after the homing sequence. And this setting should also be saved in flash. TT3084GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 110 • Wait for register 35 "Error status" bit 4 to be active =IN_POSITION. (Indicates that homing is finished). • Then change "Requested_Mode" to whatever needed. The blocking of cyclic writes to the motor is then released by the module. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 111 7. When a new relative move is requested, go to step 3. You may also have the P7 register in the cyclic write list, thereby enabling easy change of the relative distance to move. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 112: Odva Conformance Certificate

    ODVA Conformance Certificate TT3091-01GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 113: Powerlink Users Guide

    POWERLINK Users Guide JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 114: Introduction To Powerlink

    Powerlink operates as a protected segment by design, and connects to a none-determin- istic Ethernet network via a gateway/router device. This gateway acts as a defensive bar- rier against attacks by providing fire wall security measures. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 115 For general technical data please see Powerlink for MAC or MIS - Technical specifications, page 259. Legacy ethernet EPL Router (Gateway) Ethernet hub TT3033GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 116 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 for MAC and MIS motors...

  • Page 117: Protocol Specifications

    Async data : Poll Responce : send Sent by any CN, invited by Managing Node from CN 1 Sent from CN, multi-cast to all nodes TT3035GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 118 In the NMT_GS_RESET_CONFIGURATION sub-state, the node ad- dress 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.
  • Page 119 PRE_OPERATIONAL_1 NMT_CS_ PRE_OPERATIONAL_2 NMT_CS_ READY_TO_OPERATE NMT StartNode NMT_CS_ OPERATIONAL NMT_CS_ STOPPED NMT StopNode TT3037GB Communication type POWERLINK Listen only Legacy Ethernet POWERLINK Cycle communication Reduced cycle JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 120 Service Data Object (SDO). The SDO is used for much slower acyclic data transmis- sion. NMT response services. Used for identity and status signalling during start-up and runtime. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 121: Commissioning

    1s. Double flash: Two flashes with a period of 200ms followed by 1s off period. Triple flash: Two flash- es with a period of 200ms followed by 1s off period.Flickering: Rapid flashing with a period of approximately 50ms (10 Hz). JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 122 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) JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 123 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 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 124: Ethernet Powerlink Objects

    16 bit in the case of MAC050-141. In those situations it is necessary to interpret them as 16 bit to get the sign correct. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 125 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 2.0ms if MAC050- MAC141, and with 30μs if MAC400-MAC4500 or MIS/MILxxxxxELxxxx. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 126 117h is JVLs vendor ID. Mandatory. Product Code, identifies a specific device version. UNSIGNED32 0x0200 The MAC00-EL4/-EL41 has the product code 200h UNSIGNED32 Revision number. UNSIGNED32 Serial number JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 127 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" com- mand afterwards. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 128 Please find a complete list of register descriptions in the appendix. Motor registers MAC050 - 141, page 264 or Motor registers MAC400 - 4500, page 273 or Motor registers MISxxx, page 292. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 129: Network Management Services

    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 in- cludes error information. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 130: Xml Device Description File

    Ethernet POWERLINK master (MN). The description files contain information on the supported communication objects. XDD files for JVL Drives are avail- able through your local JVL representative and http://www.jvl.dk. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 131: Examples

    Examples 5.7.1 Running Velocity control To use the JVL motor in velocity mode the following registers are basically of interest. 1. "Mode" - Mode register register 2 2. "V_SOLL" - Velocity register 5 3. "A_SOLL" - Acceleration register 6 4. "Error/Status" - Error and status register 35 So, to control these registers the cyclic data needs to configured.
  • Page 132 Motor registers MAC050 - 141, page 264 and Motor registers MAC400 - 4500, page 273 or Motor registers MISxxx, page 292. 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.
  • Page 133 Startup mode should be set to position, for the motor to stay in position after the homing sequence. And this setting should also be saved in flash. TT3084GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 134 • Wait for register 35 "Error status" bit 4 to be active =IN_POSITION. (Indicates that homing is finished). • Then change "Requested_Mode" to whatever needed. The blocking of cyclic writes to the motor is then released by the module. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 135 7. When a new relative move is requested, go to step 3. You may also have the P7 register in the cyclic write list, thereby enabling easy change of the relative distance to move. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 136 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 137: Profinet Users Guide

    PROFINET Users Guide JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 138: Introduction To Profinet Io

    Properties and services of a PROFINET IO device are described in a GSD file that is written in GSDML (General Sta- tion Description Markup Language). JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 139 Process Data Transfer Control Protocol (an IP based protocol used widely on the internet) User Datagram Protocol (an IP based protocol used widely on the internet) JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 140: Commissioning

    Standard CAT 5 STP cables can be used. It is not recommended to use UTP cables in industrial environments, which is typically very noisy. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 141 6.2.5 PROFINET IO in the MAC or MIS/MIL motors The JVL Profinet uses slots 0 and 1. Slot 0 does not have any sub-slots and the DAP mod- ule attached to it represents the device itself. Other functional modules and sub-modules, which are described in the GSDML file, can be assigned to slot 1 and its sub-slots: •...
  • Page 142 MacTalk is only the power up default, and may not be the actual used IP address after the PLC has established communication. If checking the “Power up with blank name of station” (factory default) in MacTalk and  save the configuration in flash, then the MAC00‐EPx / MIS/MILxxxxxxEPxx will always  start up without a station name. This enables the possibility of having new devices on  stock, and if needed exchange them in the machine without any setup, as the PLC can  be programmed to automatically assigning the correct name, when it finds a device  without name. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 143 12. Create a new project in TIA Portal v11 for your PLC, or open an existing project. See Siemens documentation for more information. 13. In the Hardware catalog under Other field devices / PROFINET I/O / I/O / JVL Industri Elektronik A/S / PNS should MAC00-EPx reside. See figure at next page.
  • Page 144 18. Drag the “8 registers input” and “8 registers output” from the hardware cata- log under Other field devices / PROFINET I/O / I/O / JVL Industri Elektronik A/S / PNS / Module / Input modules and Output modules, and drop them in the Device overview of the MAC00-EPx.
  • Page 145 'JVL_PN_ex1.zip' which can be downloaded and unzipped. This example is made for MAC140, but can easily be changed to work with MAC400-MAC4500 or the MIS/MIL motors. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 146: Profinet Objects

    PZD to transfer data from the master to the slave. The JVL process data is fully user configurable. It is possibly to set up eight, 32 bit regis- ters in each direction. The setup is done with MacTalk or via parameter object 0x11 sub- index 16-31.
  • Page 147 (=983040 in Mactalk) in the cyclic write list and send commands this way. For a list of commands for the module command register please refer to Register Overview, page 226 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 148 MODULE registers can be appended as the last registers in the list, at no extra timing cost. Motor register 35 shall be in the cyclic read list, as it is also used internally. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 149 Apply and save button. Here the actual position is transfered in the 1. word of data. The operation mode is written in the motor. TT3014GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 150 Please find a complete list of register descriptions in the appendex. Motor registers MAC050 - 141, page 264 or Motor registers MAC400 - 4500, page 273 or Motor registers MISxxx, page 292. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 151 32 bit data to write 0xFEDCBA98 Example: Write 0xFEDCBA98 to object 0x12 subobject 0x31 ( = motor register no. 49), in JVL device with ID 2042. Please notice: Even though all registers is transmitted as 32 bit, some of them originally derive from 16 bit in the case of MAC050-141.
  • Page 152 4 (always 4 byte = 32 bit) Example: Read from object 0x11 subobject 0x22 ( = module parameter no. 34), in JVL device with ID 2042. Please notice: Even though all registers is transmitted as 32 bit, some of them originally derive from 16 bit in the case of MAC050-141.

  • Page 153: Ethernet Switch

    The JVL Profinet module has build in 2 port switch useful if a limited amount of motors is connected in a daisy chaining topology. This switch is Profinet-IRT capable and will of cause obey the above mentioned demands.

  • Page 154: Examples

    Examples 6.5.1 Running Velocity control To use the JVL motor in velocity -mode the following registers basically is of interest. 1. "Mode" - mode register - register 2 2. "V_SOLL" - velocity register 5 3. "A_SOLL" - acceleration register 6 4.
  • Page 155 Motor registers MAC400 - 4500, page 273 or Motor registers MISxxx, page 292. 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.
  • Page 156 Startup mode should be set to position, for the motor to stay in position after the homing sequence. And this setting should also be saved in flash. TT3084GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 157 • Wait for register 35 "Error status" bit 4 to be active =IN_POSITION. (Indicates that homing is finished). • Then change "Requested_Mode" to whatever needed. The blocking of cyclic writes to the motor is then released by the module. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 158 7. When a new relative move is requested, go to step 3. You may also have the P7 register in the cyclic write list, thereby enabling easy change of the relative distance to move. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 159: Modbustcp/Ip® Users Guide

    ModbusTCP/IP® Users Guide JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 160: Introduction To Modbus Tcp/Ip

    Ethernet available as it have no special requirements regarding the Ethernet hardware, opposite some of the other industrial Ethernet protocols. Further information about Modbus TCP is available from the Modbus Organization www.modbus.org. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 161 User Datagram protocol (an IP based protocol used widely on the internet) DHCP Dynamic Host Configuration Protocol (Automatic configuration of IP ad- dress netmask and gateway from a DHCP server). JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 162: Commissioning

    Notes: Flickering: Rapid flashing with a period of approx. 50ms(10Hz). JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 163 The MAC00-EMx/MIS/MILxxxxxxEMxx Modbus TCP module supports three function codes: 0x03 Read holding registers 0x10 Write multiple registers (up to 32 modbus registers = 16 x 32bit registers) 0x17 Read/Write multiple registers JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 164 16 bit in the case of MAC050-141. In those situations it is necessary to interpret them as 16 bit to get the sign correct. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 165 (Max. 32) register no. x 2 Read. Module regis- 16bit + 0x8000 (Max. ter no. x 2 + 124) 0x8000 ** To be repeated 1-16 times. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 166 MODULE registers can be appended at no extra timing cost. If motor register 35 is not polled it will be added internally anyway and has to be added to the minimum cycle time with 2ms if MAC050-MAC141. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 167 10. The “Run” led on the motor (which is red when powering up) should now change from orange to green when connected to the client (Modbus poll). JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 168 12. By choosing File and New a second poll window is opened where “Address:” 70 and “Quantity:” 2 is chosen. Meaning that error register 35 is polled. Your screen should now look something like this: TT3062-01GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 169 16 bit in the MAC050-141. In those situations it is necessary to interpret them as 16 bit to get the sign correct. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 170: Register Access

    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 after- wards. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 171: Examples

    For connecting to the motor, please follow the Quick start guide, page 167. 7.4.1 Running Velocity control To use the JVL motor in velocity mode the following motor registers is of interest. 1. “Mode” – mode, register 2 2. “V_SOLL” – velocity, register 5 3.
  • Page 172 1. Mode = 1 which is velocity mode, now the motor will use the acceleration and the velocity just configured. (Modbus address 4-5 = register 2). TT3066-01GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 173 35, see figure below but it also is possibly to setup one poll instance for every single register. TT3067-01GB Calculate the values needed for velocity and acceleration and send to the motor, see pre- vious example. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 174 Set a position in the motor by writing a position to register 3 (P_SOLL = Modbus address 6-7), in the example shown below is used position 5,000,000 (= 0x 004C 4B40), remark the order. TT3069-01GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 175 Motor registers MAC400 - 4500, page 273 or Motor registers MISxxx, page 292. 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.
  • Page 176 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 177: Sercos

    Sercos ® JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 178: Introduction To Sercos

    Drive profile, page 207 is dedicated the FSP Drive profile which is factory default. FSP IO / JVL profile, page 216 is dedicated the FSP IO profile which is used by the “JVL” profile also used in other Ethernet based protocols.
  • Page 179 Sercos ® Communication Profile Synchronization. Sercos ® Serial Realtime Communication System Sercos ® Messaging Protocol. Service Channel (Channel for non-cyclic data). Unified Communication Channel (UC Channel) JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 180: Commisioning

    Notes: Flickering: Rapid flashing with a period of approx. 50ms (10 Hz). JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 181 "L/A IN" and "L/A OUT" on the MAC motor module, and CN2 and CN3 at the MIS/MIL motors. Sercos Master Motor Motor Motor with with with TT3115-01GB Sercos Sercos Sercos module module module Figure 1: Redundant ring topology. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 182 “Mechanical installation” on page 181. For setting up the PC for connecting by Ethernet please see “Using MacTalk over Ether- net” on page 239. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 183 This paragraph guides you through the steps needed to jog the motor with PackProfile (Sercos ® drive). With the Pack Profile no SDDML file is needed. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 184 8.2.5.1 Enabling FSP Drive / Pack Profile. For using the Pack Profile the “FSP Drive / Pack Profile” has to be enabled in the JVL Ser- ® module. This is factory default setting, but if not enabled already, then check the “FSP Drive / Pack Profile”...
  • Page 185 Drag and drop the appropriate master from “library / Drive and control” to the project in “Project explorer”. TT3119-01GB Key in the device name you want to use and press “Next” TT3120-01GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 186 Commisioning Make sure the correct IP address and device type is chosen, as shown below in the figure. TT3121-01GB Select the programming language you prefer. TT3122-01GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 187 For some masters you may have to select the Sercos ® interface. With the MLC L65 shown here it is always present. Press the finish button, and the MLC master is added. TT3124-01GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 188 Fold out the master options and add the motor by right clicking the “Sercos” entry and selecting the “Scan bus configuration”. TT3124-01GB Then after a short while a new window should appear which should look something like this: TT3126-01GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 189 “Synchronize” and “Download motion configuration from PC to the control”. Click “Yes” and “OK” to all pop-up windows that appear. TT3129-01GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 190 Then pressing the “Enable” button should enable the drive (torque on) and then the jog buttons and the other functions are active. TT3132-01GB For making a PLC application and controlling the motor/drive this way, please consult the controller manual. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 191 Profile. 8.2.6.1 Enabling FSP Drive / Pack Profile. For using the FSPDrive Profile the “FSP Drive / Pack Profile” has to be enabled in the JVL Sercos ® module. This is factory default setting, but if not enabled already, then check the “FSP Drive / Pack Profile”...
  • Page 192 Add MLC/XLC master to IndraWorks project Make sure the PC with IndraWorks is connected to MLC master Ethernet port, and the JVL MAC motor L/A IN port or the JVL MIS/MIL motor CN2 port is connected to the MLC master Sercos ®...
  • Page 193 Key in the device name you want to use and press “Next” TT3120-01GB Make sure the correct IP address and device type is chosen, as shown below in the figure. TT3136-01GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 194 Commisioning Select the programming language you prefer. TT3137-01GB Press “Next” to step 4. TT3138-01GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 195 “MAC00-ES-FSPDrive” if using a MAC servo motor, or the “MIS/MILxxxxxxES-FSP- Drive” if using a MIS/MIL stepper motor. This is dragged and dropped on the “Sercos” in the “Project explorer” like shown below. TT3140-01GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 196: Sercos Communication

    FSP Sync profile for synchronization of motors in the network. This is used by most masters for their FSP Drive/Pack profile implementation. The sync profile is supported by the JVL MAC00-ES4x module in MAC400-MAC4500 servo motors and by JVL MIS/MILxxxES stepper motors with embedded Sercos ®...
  • Page 197 RO, C S-0-0051 Reference Position 1 S-0-0052 Position polarity parameter S-0-0055 Position window 4.3902 ° S-0-0057 Position data scaling type S-0-0076 Linear position data scaling factor S-0-0077 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 198 Load working memory procedure command S-0-0263 Backup working memory procedure command S-0-0264 S-0-0267 Password S-0-0279 List of password protected operation data List of supported operation modes S-0-0292 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 199 S-0-1020 IP address 192.168.0.x - S-0-1020.0.1 Current IP address 255.255. S-0-1021 Subnet Mask 255.0 S-0-1021.0.1 Current Subnet Mask S-0-1022 Gateway address 0.0.0.0 S-0-1022.0.1 Current Gateway address JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 200 Producer cycle time S-0-1050.1.11 Allowed data losses S-0-1050.1.12 Error counter data losses MAC00_ES S-0-1300.0.1 Component name _DRIVE S-0-1300.0.2 Vendor name S-0-1300.0.3 Vendor code MAC00-ES- S-0-1300.0.4 Device name FSPDrive JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 201 In cyclic data transfer, new parameters are transferred with every cycle of the net. The parameters transferred are defined by the mapping. With the JVL profile the mapping of the cyclic data is done in MacTalk by selecting motor and/or module registers for cyclic transfer and save this mapping in flash in the Sercos ®...
  • Page 202 If an error is indicated in S-0-0129 then also bit 15 of S-0-0011 is set. The error bits can be cleared with the command IDN S-0-0099. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 203 Reserved 000F9005 COM_ERR Modbus communication error 000F9009 SYNC_ERR PLL has lost synchronization 000F900B Output driver error OUT_DRV_ERR Safe Torque Off (Emergency C00F6034 STO_TRIG stop) triggered Reserved JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 204 The speed limit set in IDN S-0- Speed limit 0091 reached The motor is positioned within the In position programmed limits of commanded position. 7-15 Reserved JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 205 ® network using the JVL utility application MacTalk. This can be done directly with a PC or a notebook con- nected to the free Ethernet port of the last slave if using line setup. Or it can be connect- ed to the master, if the master supports the IP channel. If using the ring setup it is necessary to connect via the master.
  • Page 206 MIS/MIL motor. For example if the MAC-ID of a JVL motor is: 54 : E3 : B0 : D0 : C9 : 14, then the IP address is set to: 192.168.0.20. (The MAC address is in hexadecimal and the IP address is in decimal, so converting the 14 from the MAC-ID from hexadecimal to decimal gives 20 in decimal).

  • Page 207: Fsp Drive Profile

    Supported cycle times (Pack Profile / FSP Drive and FSP Sync) When using the Pack Profile or the FSP Drive profile the JVL motors support different cycle times, depending of the motor type. If the motion cycle time is larger than the Ser- cos cycle time then the drive performs an internal interpolation of the cyclic position val- ues if running in position mode.
  • Page 208 0x02 Position control (default setting) 0x03 Velocity control without following distance 0x0A Position control without following distance 0x0B Synchronous Velocity control 0x42 Synchronous Position control 0x43 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 209 Should always be 000 Reserved The actual use of S-0-0134 and S-0-0135 follows the Sercos ® standard version 1.1.2 and is not described in detail here. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 210 Position data scaling type S-0-0077 Linear position data scaling factor S-0-0078 Linear position data scaling exponent S-0-0079 Position resolution (counts/rotation) 360.0000 ° S-0-0189 Following error RO, C “RO” = Read Only, ”RW” = Read and Writeable, ”C” = Map able to Cyclic data, “T” = Map able to real Time  bits. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 211 Probe 2 positive edge 1 = Positive edge active Probe 1 negative edge 1 = Negative edge active Probe 1 positive edge 1 = Positive edge active JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 212 Position feedback value status S-0-0403 (Returns the home status of the drive.) S-0-0530 Clamping torque (Torque used for homing against a hard stop) 15.0 “RO” = Read Only, ”RW” = Read and Writeable, ”C” = Map able to Cyclic data, “T” = Map able to real Time  bits. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 213 IDN list of configurable real-time bits as consumer 0-0-0000 S-0-0399 IDN allocation of real time bit S-0-1050.0.20 Bit allocation of real time bit S-0-1050.0.21 “RO”=Read Only, ”RW”=Read and Writeable, ”C” = Map able to Cyclic data, “T” = Map able to real Time bits.  (3) Only available in MAC400‐MAC4500 with MAC00‐ES4x. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 214 The Modulo for- mat is not default selected. Used IDN’s with modulo function: Description Default Units Attributes S-0-0076 Position data scaling type S-0-0103 Modulo value 147456000 “RO”=Read Only, ”RW”=Read and Writeable, ”C” = Map able to Cyclic data, “T” = Map able to real Time bits. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 215 Please refer to Supported cycle times (Pack Profile / FSP Drive and FSP Sync), page 207 for possible cycle times. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 216: Fsp Io / Jvl Profile

    FSP IO / JVL profile The JVL Profile based on the FSP IO profile is supported by all JVL motors with Sercos ® But for the MAC400 – MAC4500 motors and the MIS/MILxxxES motors it is not factory default. Please refer to Enabling FSP Drive / Pack Profile., page 191...
  • Page 217 For clear of errors please refer to Reset motor errors (FSP IO / JVL Profile), page 223. For a list of commands for the module command register please refer to Regis- ter 15 - Command register, page 231.

  • Page 218: Examples

    Examples 8.6.1 Running Velocity control (JVL Profile) To use the JVL motor in velocity mode the following registers are basically of interest. 1. "Mode" - Mode register register 2 2. "V_SOLL" - Velocity register 5 3. "A_SOLL" - Acceleration register 6 4.
  • Page 219 Motor registers MAC400 - 4500, page 273 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.
  • Page 220 Startup mode should be set to position, for the motor to stay in position after the homing sequence. And this setting should also be saved in flash. TT3084GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 221 • Wait for register 35 "Error status" bit 4 to be active =IN_POSITION. (Indicates that homing is finished). • Then change "Requested_Mode" to whatever needed. The blocking of cyclic writes to the motor is then released by the module. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 222 - Write the value 16#0000 00010 (= 16 dec.) to IDN P-0-3015. Save motor parameters to flash: - Write the value 16#0000 00110 (= 272 dec.) to IDN P-0-3015. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 223 8.6.8 FSP IO / JVL Profile) Besides changing the cyclic data setup in the JVL Sercos module with the help of MacTalk it is also possibly to change the setup by means of non-cyclic data via the service channel (SVC).
  • Page 224 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 225: Module Registers

    Module Registers JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 226: Register Overview

    Note: Module parameters are not automatically saved to permanent memory after a change. The parameters can be saved permanently by applying a "Save param- eters to flash" command afterwards. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 227: Register Descriptions

    Only used for EoE Profinet, 0-255 0-255 0-255 1-254 Only powerup default. Are usually changed by the PLC later. Powerlink 192* 168* 100* 254* Read only * Fixed. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 228 1 = Enable de-bounce on input 1-4, when mirror to motor. (Results in a 15-25ms delay, where normal response time is below 1ms). Continued next page JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 229 Bit 10 DHCP enable 0* = DHCP disabled. 1 = Enable of DHCP in module. Only applicable to Ethernet- IP and ModbusTCP protocols. * Factory default. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 230 If modbus timeout is set to zero, this feature is disabled. The unit of the parameter is 100ms (e.g. “35” will give 3.5 seconds). 16-31 0-15 Reserved Modbus timeout in units of 100ms. Output JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 231 • The third table lists commands which are redirected to the MIS/MIL motor command register and executed by the MIS/MIL motor controller, if the Ethernet module is in- stalled in a MIS/MIL motor. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 232 < Same as module Save the motor parameters in flash 0x 0000 0110 memory, and do a re-sync. of internal < Same as < Same as communication afterwards. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 233 < Same as 0x0100 00FD 16777469 Reserved < Same as 0x0100 00FE 16777470 Reserved < Same as 0x0100 00FF 16777471 Reserved < Same as Table continued next page JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 234 < Same as 0x8000 00FD 2147483901 Reserved < Same as 0x8000 00FE 2147483902 Reserved < Same as 0x8000 00FF 2147483903 Reserved < Same as Table continued next page JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 235 Save to flash memory, then continue normal execution. NOTE: Some registers used only during startup! 0x0100 0171 16777585 Turn on LED flashing 0x0100 0172 16777586 Turn off LED flashing JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 236 Save to flash memory, then continue normal execution. NOTE: Some registers used only during startup! 0x8000 0171 2147484017 Turn on LED flashing 0x8000 0172 2147484018 Turn off LED flashing JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 237 * The availability of the inputs depends on the actual version of the module used. MAC00-EC4 only support Input 1 (IN1). MAC00-EC41 supports input 1, 2, 3 and 4 (IN1, IN2, IN3 and IN4). 9.2.19 Register 48 - Status bits This register is used for miscellaneous information about the module.
  • Page 238 Register 49 - Current protocol type installed in Ethernet module 0x34 = EthernetIP. 0x35 = EtherCAT®. 0x36 = Ethernet POWERLINK. 0x37 = ProfiNet. 0x38 = ModbusTCP. 0x39 = SercosIII. Not available yet. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 239: Using Mactalk Over Ethernet

    Using MacTalk over Ethernet JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 240: Using Mactalk Over Ethernet

    So, if a MAC-ID has the value: 00 : 50 : C2 : D0 : C9 : 14, then the IP address is set to: 192.168.0.20. Please remark that the MAC address is in hexadecimal and that the IP ad- dress is in decimal. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 241 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 242 With laptops or desktops with more than one network card, ie. a wireless one, it can be necessary to turn off the unused one, to force windows to route the requests the correct way. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 243: Setting Up The Ethernet At The Pc

    To reach the IP settings please follow this path: Step 1. Press the LAN‐Connection and press the “Properties”. Follow this path to find the network settings LAN-connection TT3071-01GB Find the «LAN-Connection» Continued next page JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 244 255.255.255.0 and the gateway to 1.1.1.1. Now the PC is configured for a fixed IP address and is ready to establish the connection to the motor. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 245 EtherCAT network. The EtherCAT master has to be setup first, to know what to setup in the Mactalk-PC and in the JVL motor slaves. Below is shown the steps for configuring a Beckhoff TwinCAT master to route normal Ethernet frames to the JVL slaves on the EtherCAT network.
  • Page 246 10.2 Setting up the Ethernet at the PC Then it is possible to setup the JVL Motors for working correctly with EoE. Please follow the steps shown below. Step 4. Check the “IP Enable Router” in the EoE support. If not already checked, then a reboot of the EtherCAT master is necessary.
  • Page 247 10.2 Setting up the Ethernet at the PC Step 1-3. Select the JVL Drive, then select the “EtherCAT” tab and press the “Advanced Settings” button. TT3109-01GB Step 4. In the “Advanced Settings” window expand the “Mailbox” item and press the “EoE”...
  • Page 248 Replace IP address with the JVL motor IP address from your system. If one of the “pings” should fail, go back to the setup and check that every step is done correctly. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 249: Setting Up Mactalk For Ethernet

    Now MacTalk is ready to connect to the motor and the next step is to enter the IP ad- dress of the motor to connect to. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 250 The following dialog appears when a new address is entered. TT3077-01GB Step 7. Pressing “Yes” will show the list of IP addresses and user composed names. TT3078-01GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 251 IP address can be selected. TT3079-01GB To make a quick select in the names or IP addresses, click here. The Address\naming -list can be shown anytime by pressing this button. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 252 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 253: Examples Common To All Protocols

    Examples common to all protocols JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 254: Using Module I/O In Embedded Rxp

    O2 can be activated by the bits 30 and 31 in the motor error/status register (motor reg. 35). The module inputs IN1-IN4 are read in motor register 210 in the bits 2-5. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 255 After the command is executed place the command 0 (zero) in the write word where you have placed the register 983040, in order to "rearm" for next command. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 256 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 257: Appendix

    Appendix JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 258: Technical Data

    User inputs: Input impedance: 4.7k Input current @24V: 5.1mA Digital output current (HW rev. Up to 1.2): 10mA Digital output current (HW rev. from 1.3): 15mA JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 259 (only applicable to MAC00-ELx) Input impedance: 4.7k Input current @24V: 5.1mA Digital output current (HW rev. Up to 1.2): 10mA Digital output current (HW rev. from 1.3): 15mA JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 260 Digital input impedance: 4.7k Digital input current @24V: 5.1mA Digital output current (HW rev. Up to 1.2): 10mA Digital output current (HW rev. from 1.3): 15mA JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 261 S/IP support Identification LED feature supported Hot plug Direct Cross communication The sequences MDT-AT-UCC and MDT-UCC-AT (only with SCP_Sync active) are sup- ported (continued next page) JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 262 - 1, 2, 4 ms Sercos® cycle time with MIS motors. - 1-32 ms motion cycle time with interpolation. • SCP_Diag (=Diagnostic) • SCP_SIP • SCP_RTB (=Real Time Bits). (Only with MAC400 – MAC4500 motors) JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 263 • GDP_PrBBasic (=Probes/capture). (Only with MAC400 – MAC4500 motors) - 50μs resolution. ±2.5μs jitter. - Single measuring and position probing. • GDP_BKP (=IDN Backup) • GDP_StM (=State Machine) JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 264: Motor Registers Mac050 - 141

    Position -67M - 32 bit The target position that the drive will attempt +67M R / W reach in position related modes. (high word of P-SOLL) JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 265 When this accumulated value exceeds Reg26, FNCERRMAX, the FNC_ERR bit is set in Reg35, ERR_STAT and the motor will stop. T T 1521GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 266 Bit 8, FRAME_ERR_TX A framing error was detected during the last reception on the FastMac protocol. Continued next page T T 1522GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 267 This bit is cleared automatically when the actual position gets inside the position range again. Bit 15, SSI_ERROR T T 1523GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 268 ACC0 / A1 ACC1 / A2 ACC2 / A3 ACC3 / A4 TQ0 / T1 TQ1 / T2 TQ2 / T3 TQ3 / T4 T T 1524GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 269 VF_OUT ANINP ANINP_OFFSET ELDEGN_OFFSET ELDEGP_OFFSET PHASE_COMP AMPLITUDE MAN_I_NOM MAN_ALPHA UMEAS I_NOM PHI_SOLL IA_SOLL IB_SOLL IC_SOLL IX_SELECT IA_IST IB_IST IC_IST IA_OFFSET IB_OFFSET IC_OFFSET T T 1525GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 270 Bit 7, HW_PLIM_IN6 Bit 8, HW_PLIM_ANINP HOMING_DONE Bit-0 set every time a zero search has completed. Not cleared by firmware, except after reset. T T 1526GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 271 (hi-word of HWI0) HWI1, 32-bit (hi-word of HWI1) HWI2, 32-bit (hi-word of HWI2) HWI3, 32-bit (hi-word of HWI3) HWI4, 32-bit (hi-word of HWI4) T T 1527GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 272 Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes T T 1528GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 273: Motor Registers Mac400 - 4500

    21 = Analogue to position mode. 22 = Internal test mode. 23 = Internal test mode. 24 = Gear follow mode. 25 = IHOME mode. 256: 257: 258: JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 274 The load factor is perhaps the single most important value of the filter setup. Always try to set this right before experimenting with filter setups. T T 1501GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 275 If MIN_P_IST is zero, the low position limit will not be enabled. DEGC Na / Word / The temperature measured inside the drive. (not present) T T 1502GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 276 (closer to zero). This may not be intuitive, but can be said to be mathematically correct, and is maintained for backwards compatibility reasons. T T 1503GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 277 This bit is no longer used. It could detect if a previous version of the velocity filters was found, or loaded, that did not work with newer firmware. T T 1533-01GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 278 The pin can also be used for user defined purposes and this bit will reflects its state also in this case. T T 1534-01GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 279 In other words, set: P_IST = P_IST + P_NEW, P_SOLL = P_SOLL + P_NEW, P_FNC = P_FNC + (P_NEW + FLWERR)*16. T T 1504GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 280 0 Z_REG_P 0-4 / Word / When set to 1..4, copies one of ZERO0..ZERO3 to INPOSWIN, (not present) then resets to 0 T T 1505GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 281 Velocity register V8 - see also register 65. (V7) (100RPM) VEL7 Velocity 8 Na / Word / Velocity register V8 - see also register 65. (V8) (100RPM) T T 1506GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 282 (the Input State) The copying is executed every 1.3 ms. The digital inputs can thus be considered level-triggered rather than edge- triggered. (Contrinued next page) T T 1507GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 283 In this setup Digital Input 2 will have higher priority than Digital Input 1, because it is evaluated later and overwrites V_SOLL in case both buttons are held down. T T 1508GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 284 To use ANINP2 as a signal conditioned input, use a similar trick so IOSETUP is set to make ANINP reflect the signal conditioned value of ANINP2 in bit 8. Bits 6, 7, and 11 are unused. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 285 See Reg115, B41_CONF0 for description. MAC00_15 / Na / Word / Controls IO6 on MAC00-B41 (bit 5 in B41_DO). (not present) B41_CONF5 See Reg115, B41_CONF0 for description. T T 1510GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 286 Na / Word / (not modified by the user. present) KIB1 Na / Word / (not present) KIB0 Na / Word / (not present) T T 1511GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 287 MacTalk will use the appropriate filter set. Note that the units of all velocity-related register, measured in counts/sample will now be doubled, and all acceleration-related registers, measured in Counts/sample , will be four times larger. T T 1512GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 288 Na / Word / <used with motor current loop> (not present) IC_SOLL Na / Word / <used with motor current loop> (not present) T T 1513GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 289 <used by JVL only to monitor internal timing´> (not present) TC0_CV2 Na / Word / <used by JVL only to monitor internal timing´> (not present) T T 1514GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 290 (not present) ANINP2_OFFSET Na / Word / (not present) ANINP3 Na / Word / (not present) ANINP3_OFFSET Na / Word / (not present) T T 1515GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 291 MAC400 HW1.? And later. XREG_DATA Na / Word / Data to or from extended registers. See XREG_ADDR for (not present) description T T 1516GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

  • Page 292: Motor Registers Misxxx

    ‐ ‐ Special The current status of the digital inputs. “Status bar” OUTPUTS 32bit R/W ‐ Special The current status of the digital outputs, can be written to  “Status bar” change the outputs. FLWERR 32bit R ‐ Steps When the encoder option is installed this shows encoder  Follow error (‐2 )‐(2 ‐ deviation from the calculated position (P_IST). Reserved (intended for 64‐bit FLWERR hi‐word) JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 293 Error  emergency stop when an error has occurred. acceleration IN_POSITION_WINDOW 32bit R/W 32‐ 20000 Steps Selects how close the internal encoder position  In position  0‐(2 must be to P_SOLL to set the InPhysical‐ window Position status bit and prevent further  AutoCorrection. IN_POSITION_COUNT 32bit R/W 0‐100 Counts The number of times to attempt  Max. number of  AutoCorrection. A value of zero disables  retries AutoCorrection.  JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 294 EXTENCODER 32bit R Counts The value from an external encoder, eg. SSI.  SSI Encoder  (‐2 )‐(2 ‐1) value FlexReg 32bit R ‐ ‐ A mix of 16 bits from different registers. The user can set  this up. 49‐ 32bit R/W Steps 8 position registers (odd numbered registers) Position n (Pn) (‐2 )‐(2 ‐1) JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 295 N/A (shown  confidence limits (high 8 bits) and 50% of samples  graphically) violated the slope limit. (low 8 bits) SSI_Setup1 32bit R/W ‐ ‐ Special SSI setup bits: SSI Encoder setup Bit 0‐4: No. of data bits Bit 5‐7: No. of samples Bit 8‐15: SSI clk. frequency Bit 16‐28: Max. sample deviation Bit 29‐31: Read retries SettlingTime 32bit R/W 0‐32676 Number of milliseconds to wait after an AutoCorrection  Settling time  attempt before testing for the position being within the  between retries target window. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 296 1: Don’t start program  Bit 5: Synchronize to encoder after passive after power up Bit 6: In phys. Position update continuously Bit 10: Startup: Transfer single turn position to  2‐3: 0 = Disabled, 1 =  P_IST Quadrature, 2 = Puls/ Bit 11: Startup: Transfer multi turn position to  direction P_IST Bit 12: Startup: Keep External Encoder 17: No error if position  Bit 13: Startup: Keep SSI Value limit is detected Bit 14: CANopen: Beckhoff mode Bit 16: External Encoder counting direction Bit 17: Disable position limit error Bit 19: Disable brake (int./ext.) temporarily Bit 20: Disable SSI encoder error Bit 21: Low bus voltage ‐> Error Bit 22: Low bus voltage ‐> Passive Bit 23: Low bus voltage ‐> 0 RPM Bit 24: Enable closed loop Bit 25: Enable closed loop current control Bit 28: Position limits without memory JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 297 GROUP_ID 32bit R/W 0‐255 ‐ The group id of the motor – used for the  Group Id  GroupWrite telegram on the MacTalk protocol. GROUP_SEQ 32bit R 0‐255 ‐ ‐ The last received group write sequence – part of the  MacTalk serial protocol. MY_ADDR 32bit R/W 0‐254 ‐ The motor address. Used on the MacTalk serial  Motor address protocol. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 298 32bit R ‐ Tells which type of module is connected to the  Dedicated  internal 1Mbit/s Modbus channel.  0 = No module 0x34 = EthernetIP 0x35 = EtherCAT  0x36 = PowerLink 0x37 = Profinet 0x38 = Modbus/TCP 0x3A = Sercos III EXT_ 32bit R/W ‐ Counts This register counts the external encoder. External  (‐2 )‐(2 ‐ ENCODER encoder Reserved (intended for 64‐bit EXT_ENCODER hi‐word) JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 299 Object 60FF subindex 0 (‐2 )‐(2 ‐1) Reserved ActualVelocity 32bit ‐ Object 606C subindex 0 (‐2 )‐(2 ‐1) Reserved Digital‐Outputs 32bit 0‐65535 ‐ Object 60FE subindex 1 (Low 16bit) Reserved DigitalInput 32bit 0‐65535 ‐ Object 60FD subindex 1  (Low 16bit) JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...
  • Page 300 32bit R/W ‐ Special Bit 0‐7: Allowable overspeed in percent (0‐100) Allowable  Bit 8‐31: Follow error limit before overspeed is used. overspeed Follow error  before overspeed LOWBUSCVI_CNT 32bit R/W Counts Number of times in a row the voltage can be too low  before error is set. Time between each  measurement = 100 us. V_ENCODER 32bit R ‐300,000‐ ‐ 0.01  The actual internal encoder velocity. Internal encoder  300,000 velocity JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors...

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