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3.5
3.5.1
Introduction
The MAC00-ECx supports the DSP-402 standard from CiA® http://www.can-cia.com/.
Please refer to this standard for full details of the functions. The DSP-402 is only a stand-
ard proposal and might be changed in the future. We reserve the right to change future
firmware versions to conform to new versions of the standard. Not all of the functional-
ity, described in DSP-402, is supported. But all the mandatory functions are supported.
The following operation modes are supported:
Mode name
Profile Position mode
Profile Velocity mode
Homing Mode
Cyclic Synchron Position
Cyclic Synchron Velocity
Cyclic Synchron Torque
*
When using one of the cyclic modes it is strongly recommneded to use Distributed Clock, in order not
to loose any cyclic frames.
!
Preconditions:
Before the DSP-402 mode with all the described features can be used, the firmware in
the MAC00-ECx module or the MIS/MILxxxxxxECxx motor must be updated to at least
firmware version 3.36. Besides, version 22 of the XML file must be used "JVL ECS
V22.xml" found on the web page http://www.jvl.dk.
See also How to find FW/HW version at product, page 13.
• The start mode of the motor must be set to passive.
• No power up Zero searches must be selected.
• If absolute movement is used, the 'resynchronize after passive mode' must be set.
• The DSP-402 drive profile must be enabled and saved to flash (please see next para-
graph).
When using DSP-402 mode, manipulating motor parameters with object 0x2012 can
corrupt the behavior of the DSP-402 functions. Also be aware that manipulating param-
eters in MacTalk should be avoided when using DSP-402.
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
the "Apply and save" button is pressed.
Then after a power cycle the MAC00-ECx module or the MIS/MILxxxxxxECxx motor
will wake up with DSP-402 drive profile enabled instead of the JVL profile.
If already having a TwinCAT project, then delete the JVL box, and do a new scan for box-
es. Now the JVL device will appear as a drive instead.
JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors
CiA® DSP-402 drive profile
Short Mode no. Comments
csp *
csv *
cst *
WARNING: The cyclic modes (8,9,10) normally used by masters are NOT recom-
mended for MAC050-141, as these motors don't support Distributed Clock, and have
a minimum cycle time of 16ms when using DSP-402.
pp
1
pv
3
hm
6
Default PDO addresses this mode.
8
MAC050-141 only in Free Run mode.
9
MAC050-141 only in Free Run mode.
10
Only MAC400 - MAC4500
"Enable DSP402 drive profile"
is checked, and
53
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