Using Cyclic I/O-Messages - JVL MAC00-EC41 User Manual

4.3
4.3.1 Cyclic messages.
I/O messaging also referred 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.
It is mandatory to have the error/status register (register 35) as one of the slave to master
registers. If not the motor will overrule the configuration and place register 35 anyway.
These data is sent cyclic using the assembly class object 0x04.
If module registers is placed in cyclic R/W, then the register number has to be calculated
as follows: 

Register number = 65536 x sub index.
Example: module command (sub-index 15) = 65536 x 15 = register 983040

When module registers (register numbers above 65535) are chosen, they have to be
placed after the motor registers in the list of cyclic registers.
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.
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.
On the EthernetIP -tab in MacTalk these I/O's are configured.
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.
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)
Motor register 16 (Motor load - mean) The load the motor is experiencing over time
Motor register 35 (Error status)
The motor registers 35, 36, and 211 should NOT be inserted in the cyclic write list, as
this may give unpredictable results. For clear of errors, reset of motor etc. please insert
the module command register (=983040 in Mactalk) in the cyclic write list and send
commands this way. For a list of commands for the module command register please
Register Overview, page 226.
88 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors

Using cyclic I/O-messages

Here the actual position is transfered
in the 1. word of data.
The operation mode is written in the
motor.
The actual motor position
The actual velocity of the motor
The actual follow error in the motor movement
Bit-field that holds both error information and
status of movements etc.
TT3014GB