JVL MAC050 User Manual page 214

5.6 Expansion Mod. MAC00-FC2/FC4/FC41
Transmit PDO 23d:
With this PDO the actual torque can be read.
Byte
Data
Object
Transmit PDO 24d:
With this PDO the value of the analogue input can be read.
Byte
Data
Object
Transmit PDO 25d:
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
5.6.44 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.
The table with 8.5 and 21 ms are valid for the MAC050 – MAC141, and for MAC400 and
higher with firmware versions below 2.0. With MAC400 and higher with firmware 2.0
and higher, the table with <2 ms will be valid. Still it would be possible to overload the
internal communications line if many data objects are read with short intervals. The gen-
eral rule of thumb is that up to seven motor registers can be read every 2 ms.
PDO number
Receive PDO
Transmit PDO
(): Only valid for MAC050 to MAC141. All timing values based on MAC00-FCx firmware V3.0 or newer.
*: Note that Transmit PDO21d is faster if P_IST scanning is enabled. (See object
2011h subindex 8).
**: Note that Transmit PDO22d is faster if V_IST scanning is enabled. (See object
2011h subindex 8).
210
0 1
VF_OUT
2012h, sub 121
0 1
ANINP
2012h, sub 122
0 1
Motor
Inputs
Status
2011h, 2011h,
sub 3 sub 1
21 22
< 2ms < 2ms
(8.5ms) (21ms)
12.5ms 10.5ms
(<1ms)* (<1ms)**
JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
2 3 4
UserReg1XmitSelect !=0
2 3 4
UserReg2XmitSelect !=0
2 3 4
Last motor error Reserved
2011h, sub 4
23 24
<1ms <1ms
10.5ms 10.5ms
5 6
Reserved Reserved
5 6 7
Reserved Reserved
5 6 7
Reserved Reserved Reserved
25
-
<1ms
7