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1. Sameas 0x800000FD 2147483901 Reserved _ Sameas 0x800000FE 2147483902 Reserved Sameas 0x800000FF 2147483903 Reserved Samoas 156 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 7 3 Register access Register 32 38 read only These registers contain HW SW and communication information of the module Register 47 Digital inputs on module read only With this object the status of the 4 digital inputs can be read mee me The availability of the inputs depends on the actual version of the module used MAC00 EM4 only support Input I INI MACOO EM4 supports input 2 3 and 4 INI IN2 IN3 and IN4 Register 48 Status bits read only This register is used for miscellaneous information about the module and the motor More detailed motor status is found in the motor error register 35 EE 808 Reserved Reserved Reserved Reserved No communica Tempera Voltage Current Generic tion with motor ture error error error error JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 157 7 4 Examples In this section is shown some examples of controlling the motor by Modbus TCP As master is used the shareware program Modbus poll which can be obtained from the website http www modbustools com These examples assume you are already conne
2. modules for MAC motors 5 7 Examples 5 7 2 Running Position control Running the motor in position control requires that the mode register is set for position control The following registers is of particular interest when position mode is used Actual position IST register 10 2 Actual velocity V IST register 12 3 Follow error The actual position error register 20 4 Motor load mean average motor load register 16 5 Error Status register 35 6 Requested position P SOLL register 3 7 Requested velocity V SOLL register 5 8 Requested acceleration A SOLL register 6 In this mode the position is controlled by applying a requested position to the P SOLL register and the actual position is monitored in the P IST register The V SOLL and A SOLL registers sets the velocity and acceleration used when positioning occurs F le bet ec Actual position P IST value is sent back in Read Ward 1 10 Actual position this word Head Word 2 2 Actual velocity Actual velocity V IST is sent back in this word Head Word 3 20 Follow error Follow error the position error Head ward 4 L b Matar laad mean Motor load mean The mean load on the motor Head Word 5 35 Error status Error Status holds information regarding motion status and error status code if any Write Word 1 2 Operating mode Operating mode is used to enable disable the motor Write Word 2 Requested posi
3. UnSIONEDee fy ar UNSENEDX X m RUN E EE s l X l 35 UnsieneDa X Nootreyfamestomo r ae 9 3 poc 3 22 UNSIGNEDS2 EET UNSIGNED32 No of discarded frames to the motor GE UNSIGNED32 Total no of frames to motor Se 39 46 UNSIGNED32 Reserved for future use a unsienebse X module f unseneDse X Statusbits J Resevedforfuture use Motor _ Register Access to the motor parameter Note Module parameters are not automatically saved to permanent memory after change The parameters can be saved permanently by applying a Save parameters to flash command afterwards JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 131 6 3 PROFINET objects Object 0x10 Subindex 0 This object is used for sending commands to the module and is write only The possible commands are listed in the table below Command description Module only commands 0000 0000 0 ___ No operation lt Same as Ox 0000 0001 Reset the module lt Same as 0 0000 0010 Save module parameters to flash lt Same as Synchronized commands EC ONEN o armen re Motor only normal commands via module cmd register s n Save bara Ta SWEET sae a Motor only FastMac commands via module cma register MAC400 MAC3000 0x800000EO 2147483872 No operation Sameas 0x8000 00
4. pp 94 pp 95 pp 96 PP 97 KvrYS pp 98 S S 9o Kvrvi pp 100 KvFYo ooo ooo ooo o 101 GEARB pj Poo S 12 KVB3 pp ooo ooo Eo 108 KVB2 qoo ooo Eoo Eo 104 KVBi pp 15 KVBO 106 KIFXO pp ooo Eoo S 107 KR pp 108 KFY pp 109 112 SAMPLE 113 __ SAMPLE2 J 114 SAMPLES 115 SAMPLE4 116 REC CNT J J 197 FNC OUT 1 118 FFOUT j 119 VB OUT SS 120 V EXT 121 VF OUT peu 122 ANNP 128 ANINP OFFSET pp gt 124 ELDEGN OFFSET pf 125 ELDEGP_OFFSET pp _ 126 PHASE COMP pf 127 AMPLITUDE pp 128 MANINOM 129 MANALPHA J S e 180 UMEAS gt 181 LNOM pp 1382 PH SOLL ASOL 184 BSOL pf 185 IC soL J 136 XSELECT pf 187 AST pp 1388 IBIST 189 CIST pp 140 OFFSET 141 IBOFFSET p 142 IG OFFSET jf Velocity of external encoder Pulse In in counts per sample 525 180 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 9 2 Motor registers MAC050 141 SN _ MacReglo Name Name Default Access 1 ig tun 146 uB vaL pp 147 UC VAL pp ooo goo goo oo o Hio M EE 149 KB pp 150 KC pp 151 U SUPPLY p 152
5. StartNode b 4 4 NMT CS C OPERATIONAL _ 5_ NMT StopNode STOPPED 4 TT3037GB Communication type eas communication JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 99 5 2 Protocol specifications 5 2 4 Application layer communication The application layer communication protocol in Ethernet POWERLINK is based on the CANopen DS 301 communication profile The protocol specifies the Object Dictionary in the adapter module in addition to communication objects for exchanging cyclic pro cess data and acyclic messages The MACOO ELx module uses the following message types Process Data Object PDO The PDO is used for cyclic I O communication in other words process data Service Data Object SDO The SDO is used for much slower acyclic data transmis sion response services Used for identity and status signalling during start up and runtime 100 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 9 3 Commissioning 9 3 1 Indicator LED s description The LED s are used for indicating states and faults of module There is one power LED two link activity LED s one for each Ethernet connector and 2 status LED s Indicator and label overview General status indicator B Error indicator Power indicator Line a
6. Sameas 0x800000E3 2147483875 P ST 0 Sameas 08000 00 4 2147488876 PFNOC 0 Sameas 0x800000ES 2147483877 SOLL 0 Sameas 0x800000EG 2147483878 T SOLL 0 Sameas 0x800000E7 2147483879 ResetIN POS AC DEO Sameas 0x800000E8 2147483880 P FNC FLWERR P7 16 Sameas 0x8000 00E9 2147483861 P FNC FLWERR P8 16 0x800000EA 2147483882 Reseved _ 1 Sameas 0x800000EB 2147483883 Reseved wp Sameas 0x800000EC 2147483884 Activate PLVIAT TILLZI 1 Sameas 0x800000ED 2147483885 Activate P2 V2 A2T2 L222 Sameas 0x800000EE 2147483886 Activate 31323 _ Sameas 0x800000EF 2147483887 Activate P4 V4 A4 14 424 Sameas ox800000F0 2147483888 Starisearchzern Sameas BEE _ 0x800000F3 2147483891 Sameas 0x800000F4 2147483892 Select absolute positon mode lt 0x8000 00F5 2147483893 Select relative position mode using P SOLL 0x8000 00F6 2147483894 Select relative position mode using P Synchronize position manually using Synchronize position manually using absolute new values absolute new values 0x8000 00F7 2147483895 IST P NEW IST P NEW P P NEW P SOLL P NEW P FUNC P NEW 16 P FNC P NEW FLWER
7. Sameas 0x800000EE 2147483886 Activate P3 V3 A3 T3 L323 _ Sameas 0x800000EF 2147483887 Activate P4 V4 A4 TALA ZA Sameas ox800000F0 2147483888 Starisearh zer Sameas SOLL P IST m 0x8000 00F1 2147483889 P SOLL IST P7 P7 FLWERR P SOLL P IST 0x8000 00F2 2147483890 P SOLL P IST P8 P8 FLWERR 0x800000F8 2147483891 Resewed O Same 0x800000F4 2147483892 Select absolute position mode Sameas 0x800000F5 2147483893 Select relative position mode usngP SOLL lt Sameas ox800000F6 2147483894 Select relative position mode using P FNC lt Sameas Synchronize position manually using Synchronize position manually using absolute new values absolute new values 0 8000 00F7 2147483895 P IST P NEW IST P NEW P SOLL P NEW P P NEW P FUNC P NEW 16 P FNC P NEW FLWERR 16 Synchronize position manually using relative new values basically offset the position range with the value of P NEW 0x8000 00F8 2147483896 P IST YP IST P NEW lt Same as P SOLL P NEW P FUNC P FUNC P NEW 16 0x800000F8 2147483897 No operation Same 0x800000FA 2147483898 No operation Sameas 0x800000FB 2147483899 No operation amp Sameas 0x800000FC 2147483900 No operation
8. SOLL 0 Sameas 0x800000EG 2147483878 T SOLL 0 Sameas 0x800000E7 2147483879 ResetIN POS AC DEO Sameas 0x800000E8 2147483880 P FNC FLWERR P7 16 Sameas 0x8000 00E9 2147483861 P FNC FLWERR P8 16 0x800000EA 2147483882 Reseved _ 1 Sameas 0x800000EB 2147483883 Reseved wp Sameas 0x800000EC 2147483884 Activate PLVIAT TILLZI 1 Sameas 0x800000ED 2147483885 Activate P2 V2 A2T2 L222 Sameas 0x800000EE 2147483886 Activate 31323 _ Sameas 0x800000EF 2147483887 Activate P4 V4 A4 14 424 Sameas ox800000F0 2147483888 Starisearchzern Sameas BEE _ 0x800000F3 2147483891 Sameas 0x800000F4 2147483892 Select absolute positon mode lt 0x8000 00F5 2147483893 Select relative position mode using P SOLL 0x8000 00F6 2147483894 Select relative position mode using P Synchronize position manually using Synchronize position manually using absolute new values absolute new values 0x8000 00F7 2147483895 IST P NEW IST P NEW P P NEW P SOLL P NEW P FUNC P NEW 16 P FNC P NEW FLWERR 16 Synchronize position manually using relative new values basically offset the position range with the value of P NEW 0x8000 00F8 2147483896 P IST
9. Str String l Integer U Unsigned integer figures number of bits RO Read Only RW Read and Writeable P PDO map able Only available in MACOO ECx Only available in MISxxxECxx 3 5 4 PDO s Process Data Objects 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 tab Make sure the CoE online tab has been selected and shown first this will take some time in order for TwinCAT to retrieve all the objects from the MAC00 ECx device JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 5 3 5 CiA DSP 402 drive profile By right clicking in the PDO Content window a menu with options appear and if pressing Insert then a new window will open showing the possible objects to insert in the PDO EC13 8 empty tsm TwinCAT System Manager File Edit Actions View Options Help jDa 25 HAM FSASARKET BQle L e t 7 EPEE c m General EtherCAT Process Data Startup CoE Online Online Sync Manager PDO List sf NC Task 1 Image g 71 Tables MbxOut 0x1400 6 0 TxPDO Inputs Axes Mbxln 0 1600 6 0 RxPDO Outputs jdm Axis 1 Outputs Wl PLC Configur
10. 2147483873 Reset error Clear error bits in motor register 36 Sameas 0x800000E2 2147483874 P SOLL 0 Sameas 0x800000E3 2147483875 P ST 0 _ Sameas Joxs000 0064 2147488876 PFNOC 0 Sameas 0x800000ES 2147483877 V SOLL 0 Sameas 0x8000 00 6 2147483878 T SOLL 0 0x800000E7 2147483879 ResetiN POS ACG DEG Sameas 0x800000E8 2147483880 P FNC FLWERR P7 16 Sameas 0x8000 00E9 2147483861 P FNC FLWERR P8 16 0x800000EA 2147483882 Reseved Sameas 0x800000EB 2147483883 Reseved wp Sameas 0x800000EC 2147483884 Activate PLVIAT TILLZI Sameas 0x800000ED 2147483885 Activate PLVBA2 TAI272 Sameas 0x800000EE 2147483886 Activate P3 V3 A3 T3 L323 _ Sameas 0x800000EF 2147483887 Activate P4 V4 A4 TALA ZA Sameas ox800000F0 2147483888 Starisearh zer Sameas SOLL P IST m 0x8000 00F1 2147483889 P SOLL IST P7 P7 FLWERR P SOLL P IST 0x8000 00F2 2147483890 P SOLL P IST P8 P8 FLWERR 0x800000F8 2147483891 Resewed O Same 0x800000F4 2147483892 Select absolute position mode Sameas 0x800000F5 2147483893 Select relative position mode usngP SOLL lt Sameas ox800000F6 2147483894 Select relative p
11. Actual single turn position of the internal encoder valid for present or R 0 7999 210 HW PLIM IT Hardware position limits used by the MACOO FSx 211 COMMAND REG not 1 Reset 2 Save to flash and reset dE UN 0 HW 128 255 Execute FastMac commands NN both incremental and absolute encoders 212 UARTO SETUP Mac Talk Na Word 0 9600 1 19200 2 38400 3 57600 4 115200 Baudrate 0 R 213 UART1_SETUP Serial data Na Word 0 HW 214 EXTENC BITS not Na Word present 0 RW 215 INPUT LEVELS not Na Word present 0 RW 216 ANINP1 not Na Word present 0 RW 217 ANINP1 OFFSET not Na Word present 0 RW 218 ANINP2 not Na Word present 0 RW 219 ANINP2 OFFSET not Na Word present 0 RW 220 ANINP3 not Na Word present 0 RW 221 ANINP3 OFFSET not Na Word present 0 RW 5 230400 baud This register selects the type of protocol to use on the Serial Data interface See section XX Supports setup of signals used for label dispenser functionality with the MACOO B41 module TILS1SGE JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 199 9 3 Motor registers MAC400 3000 Fa 50 a emm MacReglo Name Name Default Access 222 IOSETUP not Na Word Selects what hardware analogue input signal that goes to present 0 RW the main ANINP register and controls some filtering signal conditioning 223 ANOUT1 not Na Word
12. EtherCAT objects Object 0x2011 Subindex 15 Command register Analogue to writing to object 0x2010 But this can be mapped in the RxPDO 21 if de sired Object 0x2011 Subindex 16 23 Register no to place in TxPDO 21 These registers contain the numbers that define the registers which are in the TxPDO 21 That is the register s which is transmitted from slave to master cyclically If some of these registers are changed it is necessary to issue a save in flash command and to re boot the device before the changes take effect Object 0x2011 Subindex 24 31 Register no to place in RxPDO 21 These registers contain the numbers that define the registers which are in the RxPDO 21 That is the register s which is transmitted from master to slave cyclically If some of these registers are changed it is necessary to issue a save in flash command and to re boot the device before the changes take effect Object 0x2011 Subindex 32 38 These registers contain HW SW and communication information of the module JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 47 3 4 EtherCAT objects 3 4 20 Object 0x2011 Subindex 47 Digital inputs on module With this object the status of the 4 digital inputs can be read The availability of the inputs depends on the actual version of the module used MACOO ECA only support Input I INI MAC00 EC41 supports input I 2 3 and 4 INI IN2 IN3 and INA
13. JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 4 2 Using none cyclic messages 4 2 1 Using none cyclic messages Explicit messages None cyclic messages in the EtherNet IP domain is called Explicit messages This mes sage type is typically used to perform configuration and other none time critical opera tions Explicit messages can be send as a connected or unconnected message All registers in the motor can be accessed explicitly using object class 0x64 The register range in the motor is from 1 255 all 32bit size For a complete register list please see Motor registers MAC050 141 page 175 or Motor registers MAC400 3000 page 184 The object class 0x64 explained in details Service type and code supported Set Attribute Single Ox 10 Get Attribute Single OxE Instances supported 0x01 0xFF motor registers 255 42 2 Type definitions UINT 16 DINT 32bit STR String of ASCII chars 4 2 3 Identity object class 0x01 Holds data on different module specific data Instance Attr ID Access Name Datatype Description gt 1 R jVenbrib UNT JVL vendor ID 936 0x3A8 gt 2 JR DeviceType UINT 000000 GE ET 5 n sms e Serial number Product name stn See the EtherNet IP spec for further details section Vol2 sect 5 3 Supported Services Ox Get Attribute OxlO Set Attr
14. TT3079 01GB To make 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 expansion modules for MAC motors 169 170 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors Appendix JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 171 9 1 9 1 1 9 1 2 172 Technical Data 4 41 EthernetIP Technical specifications Galvanic isolated OOMBit full duplex 100Base Tx no termination necessary Network topology Line Star Tree Ring Supported Protocols DHCP Dynamic Host Configuration Protocol BOOTP Bootstrap Protocol ACD Address Conflict Detection DLR Device Level Ring ring topology on device level Max 100 m cable between slaves Connectors PWR power MI2 connector Spin male O MI2 connector 8pin female IN and L A OUT Ethernet MI2 connector 4pin D coded female Supply voltage CV 12 48VDC Nominal absolute max 50V Current rating CV typical I 50mA max 250mA User inputs Input impedance 4 7k Input current 24V 5 ImA Digital output current HW rev Up to 1 2 0 Digital output current HW rev from 1 3 I 5mA MACOO EC4 EC41 EtherCAT Technical specifications Galvanic isolated OOMBit full duplex I OOBase Tx no termination necessary Ne
15. 0 Favorites Alarms Timer Counter Ir lE RETE ses es e fe alo fo Bleed or se HP Y Controller Tags Read Pos SG 9 Controller Fault Handler 3 Message E CI Power Up Handler Message Control Msg E DN2 Tasks ER 5 68 MainTask cS MainProgram Program Tags Set Mode SG MainRoutine Message 8 Unscheduled Programs Message Control 2 23 Motion Groups EI Ungrouped Axes E Add On Instructions E1 53 Data Types Og User Defined Fr og Strings Og Add On Defined 2 Lg Predefined H E Module Defined 28 Trends 2 43 1 0 Configuration B CompactLogix5323E QB1 System a 1769 L23E QB1 Servol El 1769 L23E QB1 Ethernet Port LocalENB 1 85 Ethernet 1769 L23E QB1 Ethernet Port LocalENB JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 87 4 8 Examples 4 8 3 Message descriptions Msgl reads information from the motor and is setup in the following way Reads GET ATTRIBUTE SINGLE the actual position register in the motor instance 10 and stores the 4 byte value in the ACTUAL POSITION tag i Configuration Communication lt Type jervice Get Attribute Single Type Bytes Service CfaaudPoston D o ett Instance 1 Stores the value Register 10 actual position into
16. 148 Commissioning If an error is detected in the received request an exception frame is returned MBAP Header Function Code Exception code The returned function code in case of an exception is the transmitted function code with bit 7 set that means that 0x03 gt 0x83 and 0x10 gt 0x90 Exception codes Function code not supported Not allowed register no 0x03 Too many registers or uneven no of registers as every register in motor module is 32 bit and requires 2 x 16 bit modbus registers 0x03 Read Holding Registers Read of registers Max 124 x 6bit registers at a time 62 x 32bit registers Only even no of 6bit registers is supported The response time is increased slightly for every reg ister added See Minimum poll time page 149 for minimum poll time Request 1 byte 2 bytes Modbus Cmd Motor register no x 2 or module MERE meee 0x03 register no x 2 0x8000 Response 7 bytes 1 byte 1 byte 2 bytes 2 bytes MBAP header Modbus Cmd 0x03 Data byte count Register value low 16bit Register value high 16bit Example read of module register 3 IP address 192 168 100 1 0xC0 0xA8 0x64 0x0 I Request 0x00 0x0 I 0x00 0x00 0x00 0x06 0x0 I 0x03 0x80 0x06 0x00 0x02 Response Note the byte order 0x00 0x0 I 0x00 0x00 0x00 0x07 0x0 I 0x03 0x04 0x64 0x0 I OxCO OxA8 Possibly exception responses 0x02
17. 242 pp Reserved for future purposes 4g Reserved for future purposes 24 pp Reserved for future purposes 245 Reserved for future purposes 240 pp Reserved for future purposes 247 pp Reserved for future purposes 248 pp Reserved for future purposes 29 pp Reserved for future purposes 250 pp Reserved for future purposes pp Reserved for future purposes 252 pp Reserved for future purposes 253 pp Reserved for future purposes 254 pp pp Reserved for future purposes T11528GB JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 183 9 3 Motor registers 400 3000 9 3 1 Register list for MAC400 800 1500 and 3000 The following list is only valid for the MAC400 to MAC3000 motors Please notice At the Ethernet modules all registers is transmitted as 32 bit some of them originally derive from 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 Firmware MacTalk Range Size Description Ne Name Name Default Access NA NA NA NA N Dummy register donotuse VERSION Displayed on Firmware version bottom right status line R MODE REG Startup 0 25 Word The actual operating mode of the drive mode 256 Change 257 RW In general the motor will either be passive attempt to actual mode 258 reach certai
18. GE 0 Pory e w 0 5 Profile position parameters 6064 0 Positionactualvalue B2 ROP 6067 o Position window 102 w fm 6068 0 Positionwindowtime Vis RW 6 3 87A o Target postion H2 RW 607D 0 Softwaepostonimt U8 RO 2 1 Wn B2 R 0 2 RW 6080 0 Maxmotorspeed U32 RW Depending on motortype 0 Profilevelocity Usa Ri 6083 o Profile acceleration U32 15000 6086 0 Motionprofiletyee H6 RW 0 5 Continued next page 50 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 3 5 CiA DSP 402 drive profile dt Profile velocity mode 6068 0 Velocitydemandvalue 132 606C 0 Velocity actual value eoD 0 Velocitywindow Vis RW im eo 0 Velocitywindowtime Ul6 RW e GOFF 0 Target velocity U3 W P O Homing mode 2100 0 Hommgtoqe Ul6 RW 30 SUC 0 Homeofet e w 0 6098 0 Homngmehod 188 w 0 5 899 0 Homingspeeds e 0 1 Speed during search for 032 RW 50 Mk a a Da 609A 0 Pomingacceieration U32 RW 5000 G08F 0 Postonencoderresoution RO 2 2 Motorrevoutions us w goa 0 Ro 2 I Motorrevoutions US RW l 2 naftrevolutons UX RW 6092 0 Feedconsemt _
19. IST P NEW Same as P P SOLL P NEW P FUNC P FUNC P NEW 16 0x800000F9 2147483897 No operation lt lt J Sameas 0x800000FA 2147483898 No operation 0x800000FB 2147483899 No operation 0x800000FC 2147483900 No operation Sameas 0x800000FD 2147483901 Reserved _ Sammes 0x800000FE 2147483902 Reserved Samoas 0x800000FF 2147483903 Reserved Samoas 108 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 5 4 5 4 7 5 4 8 5 4 9 5 4 10 5 4 11 Ethernet POWERLINK objects Object Ox201 1 The module registers is mapped to object 0x201 I The subindex 3 6 31 is R W the rest is read only Object Ox2011 Subindex 1 MAC address MSB The 2 most significant bytes of the module MAC address is placed here Output 16 Most significant bits of MAC address Object Ox2011 Subindex 2 MAC address LSB The 2 most significant bytes of the module MAC address is placed here Output 32 Least significant bits of MAC address Object 2011 Subindex IP address This is the combined IP address and node ID of the device Only the node ID part is writeable the rest of the IP address is fixed Bit 2431 1628 815 _ 07 192 168 100 Node ID Object Ox2011 Subindex 4 Netmask This is the netmask of the device The
20. Supply voltage Analogue input Errors Motor set Passive mode Read Word 7 0 No Selection Read Word 8 0 No Selection C Write Word 1 2 Operating mode Write Word Hequested postiar 0 Poll division 0 Write Word 3 5 Velocity Motor set velocity 0 Protocol settings Station alias Write Word 4 6 Acceleration Write Word 5 0 No Selection Write Word B 0 No Selection Write Word 7 0 No Selection Write Word 8 0 No Selection _ Status ModbusTEP timeout 100 ms Enable DSP402 drive profile Status ydeismmig Firmware Version V3 22 Build 470 Hardware Version V 2 00 MAC 00 50 C2 DO FF FF Serialnumber 11111 Clear Log Apply and save TT30856B MAC140 Version 9 01 5N 86855 MACOO0 ECx EtherCAT v3 22 Connected Procedure in the PLC e Treat the transmitted Register 2 as Requested Mode and the received register 2 as Actual Mode When homing is wanted set the Requested Mode to one of the values 12 13 or 14 depending of the requested homing mode 12 Torque based zero search mode only MAC motors 13 Forward only zero search mode 4 For ward backward zero search mode only MAC motors For a comprehensive description of the homing modes refer to the general MAC motor manual LB0047 xxGB e Observe that the Actual Mode is changing to the homing mode Now the module is blockin
21. UNSIGNED32 UNSIGNED32 pm E mE E _4 E Lr Pg X Ox 2 3 UNSIGNED32 X Status bits Reserved for future use D Subnder cou N JUNSIGNED32 Access to the motor parameter n Note Module parameters are not automatically saved to permanent memory after change The parameters can be saved permanently by applying a Save parameters to flash command afterwards 20 21 22 23 24 25 26 27 28 29 30 3 32 33 34 35 UNSIGNEDS2 X 36 37 38 9 46 7 8 3 4 4 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 43 3 4 EtherCAT objects 3 4 8 Object Ox2010 Subindex This object is used for sending commands to the module and is write only The possible commands are listed in the table below Command description Hex Dec MACO50 MAC141 MAC400 MAC3000 Module only commands 0000 00000 Noopsalon Same 0 0000 0001 Reset the module Ox 0000 0010 Save module parameters to flash Synchronized commands EE ONEN S i ere Motor only normal commands via module cmd register Save bara nash adres ya sae a Motor only FastMac commands via module cmd register 0x800000E0 2147483872 No operation p Sameas 0x8000 00E1 2147483873 Reset error Clear error bits in motor register 36 Sameas 0x800000E2 2147483874 P SOL 0
22. Velocity register V8 see also register 65 V8 277 100RPM RW bal vil ll bl TT1506GB 190 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 9 3 Motor registers MAC400 3000 Firmware MacTalk Range Size Description Name Default Access MacReglo Name ACCO not Na Word Enc cnt s sample ACC1 not iod Word Enc cnt s T EE 5 sample ACC2 not ed Word Enc cnt s sample 76 ACC3 not s Word Enc cnt s OO sample TQO er aa Word Torque register T1 Used with the fastmac protocol or T_SOLL register 7 T2 1023 300 RW pf re T3 1023 300 RW mm er ame 4 1023 300 RW te ee L1 0 HW Te jme L2 0 HW m js mp p o0 L3 0 RW GS 14 0 RW mmm mme present 0 RW mpm mee we present 0 RW mm mee 0 a present 0 RW Tem mp o present 0 RW mme mee mp o present 0 RW mmm me present 0 RW mee mene ep present 0 RW mpm Eee 8 present 0 RW 93 HWIO not Na Word HardWare Inputs Regs 93 104 HWIO 11 allow the digital present 0 RW inputs from Reg106 to control the values of other motor registers The most common use is to copy one of two values to a target register This can be used to switch between two
23. 0x03 For further documentation see Modbus Application Protocol VI Ib pdf and Modbus Messaging Implementation Guide VI Ob pdf found on www modbus org Please notice Even though all registers is transmitted as 32 bit some of them originally derive from 16 bit in the case of MACO50 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 expansion modules for MAC motors 7 2 Commissioning 0x10 Write Multiple registers Write of registers Only 2 x l6bit registers at a time x 32bit registers Request 7 bytes 1 byte 2 bytes 2 bytes 2 bytes 2 bytes MBAP Modbus Motor register no x 2 or mod Register count Register value Register value header 0x10 ule register no x 2 0x8000 low 16bit high 16bit Response 7 bytes 1 byte 2 bytes 2 bytes MBAP Modbus Cmd Motor register no x 2 or mod pagis edunt header 0x10 ule register no x 2 0x8000 9 Example write of motor register 3 P SOLL 0x12345678 Request Note the byte order 10x00 0x02 0x00 0x00 0x00 0x0B 0x0 I Ox 1 0 0x00 0x06 0x00 0x02 0x04 O x56 0x78 0 12 0x34 Response 0x00 0x02 0x00 0x00 0x00 0x06 0x0 I Ox 10 0x00 0x06 0x00 0x02 Possibly exception responses 0x02 0x03 For further documentation see Modbus Application Protocol VI Ib pdf and Modbus Messaging Imple
24. 1023 300 The value 1023 corresponds to 300 of nominal load and is the absolute maximum peak torque allowed The value 341 gives 100 nominal load E ads ee RW counts INDEX_OFFSET not present Word Encoder Updated after a Zero Search to show at what RW counts single turn encoder position the zero point was detected This is used by MacTalk on the Test tab to show if the zero search resulted in a valid zero position Encoder The actual motor position measured by the counts internal encoder Updated every 1 3ms or every 2 6 ms with Reg157 OUTLOPDIV 2 Note that this register is maintained incrementally which means that the user can update it to offset the working range When updating when the drive is not in Passive mode P_IST and P_SOLL should be updated together in an atomic operation using Reg4 P NEW or other special measures Also note that the firmware will change this register P_IST Actual 2 31 kl Position 0 after a zero search operation has completed V IST 16 Actual Ne bl Enc cnt s V IST actual velocity measured over 16 Velocity Sample 16 es Same unit as V SOLL register 5 V IST Wor Actual velocity 1RPM 0 17316 Ee un ieee Sample 13 KVOUT Load Nal Fre 6 be set to the ratio between the total inertia 65536 1 0 driven by the motor relative to the motors own rotor inertia So for at motor shaft that is not mechanically connected to anything this value should be 1 0 The load factor is
25. 15 5 Reserved Bits 4 0 Bit number in source register to use Reg215 IO POLARITY will be applied after these ul 0 H o Jew This value will be Reg113 possibly modified by Regs115 registers to allow general inversion of each digital output bit Controls 102 on MACOO B41 bit 1 in B41 DO B41 CONF1 W See Reg115 B41 CONFO for description B41 CONF2 W B41 CONF3 0 RW B41 CONF4 0 RW 120 MACOO 15 Word B41 CONF5 0 RW Controls 103 on MACOO B41 bit 2 in B41 DO See Reg115 B41 CONFO for description Controls 104 on MACOO B41 bit 3 in B41 DO See Heg115 B41 CONFO for description Controls 105 on MACOO B41 bit 4 in B41 DO See Reg115 B41 CONFO for description Controls 106 on MACOO B41 bit 5 in B41 DO See Reg115 B41 CONFO for description 94 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 9 3 Motor registers MAC400 3000 Firmware MacTalk Range Size Description MacReglo Name Default Access Name 121 KFF5 KFF5 Na Word 0 RW 122 KFF4 KFF4 Na Word 0 RW 123 KFF3 KFF3 Na Word 0 RW 124 KFF2 KFF2 Na Word 0 RW 125 KFF1 KFF1 Na Word 0 HW 126 KFFO KFFO Na Word 0 HW NEU UNE UN present 0 RW em for present 0 RW 129 KVFX4 not Na Word present 0 RW 130 KVFX3 not Na Word present 0 RW 131 KVFX2 not Na Word sll E Bu Filt fficient d by th locit d iti lat ilter coefficients used by the veloci
26. 7 MAC00 EM4 EM4 ModbusTCP IP module 43 7 1 Introduction to Modbus TCP IP 144 Ddaed 146 Register access ed dE 153 74 Examples au aan 158 8 Using MacTalk over Ethernet 0000000000000000000000000000000000000 163 8 1 Using MacTalk over Ethernet 164 8 2 Setting up the Ethernet at the PC 165 8 3 Setting up MacTalk for Ethernet 167 9 Appendix 000000000000000000000000000000000000000000000000000000000000000000000 7 Galt Data GR 172 9 2 Motor registers MACO5O 141 175 9 3 Motor registers MAC400 3000 184 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 6 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors Introduction JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 1 1 Introduction SN 83022 B 47 00 50 2 P DO C0 7A Je TT3001GB Industrial Ethernet is becoming more and more popular as it offers Very fast response time Predictable delay times deterministic protocol Safe transmission of data Comp
27. ELDEG IST not Na Word lt used with motor current loop gt present 0 R 191 V_ELDEG not Na Word used with motor current loop present 0 R 192 UA VAL not Na Word used with motor current loop present 0 R 193 UB VAL not Na Word used with motor current loop present 0 R 194 UC VAL not Na Word used with motor current loop present 0 R 195 EMK A not Na Word used with motor current loop present 0 R 196 EMK B not Na Word used with motor current loop present 0 R 197 EMK C not Na Word used with motor current loop present 0 R 198 U BUS Bus Na ku The actual voltage of the internal DC bus updated every voltage 0 R 100 us One count corresponds to 0 888V 199 U BUS OFFSET not Word Factory offset used to calibrate the measurement of present R Regi98 U_BUS 200 TCO CV1 not Na Word lt used by JVL only to monitor internal timing gt present 0 201 TCO CV2 not Na Word used by JVL only to monitor internal timing gt present 0 R TIL514GB 198 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 9 3 Motor registers MAC400 3000 FE ld Fl 00 MacReglo Name Name Default Access 202 MY_ADDR not Na Word The motor address used for the MacTalk protocol The present 0 RW motor will respond to telegrams with this address or the broadcast address 255 MY_ADDR can also be used for the Modbus protocol if s
28. Examples 56 4 MACOO EI4 El4 EthernetIP module 00000000000000000000000 6 4 1 Introduction to EthernetlP srrrnnnnnnnnvvvvvnvvvrrnrrennnnnnnvnnnnnsseeee 62 4 2 Using none cyclic messages 65 4 3 Using cyclic l O messages 69 a4 vassere sner 73 4 5 Implementation guidelines 80 4 6 Configuration using different methods 83 4 7 Using and Selecting an Ethernet switch 86 4 9 EXIME 87 5 MACOO EL4 EL4 POWERLINK module 00000000000000000 93 5 1 Introduction to POWERLINK 94 5 2 Protocol specifications saa 97 5 3 Commission see EMae 101 5 4 Ethernet POWERLINK objects 104 5 5 Network Management Services 112 5 6 XML Device Description File 113 5 7 Examples Je 14 6 MAC00 EP4 EP4 PROFINET module 000000000000000000 9 6 1 Introduction to PROFINET IO 120 62 COMMISSIONING 122 6 3 PROFINET OD SCs vrede 128 64 Ethernet SWIECD ertt dri bee Qnis 137 5 5 Paper 138
29. OFF gt MODE REG 3 gear mode HWI1 also uses Digital Input 1 ON gt V SOLL 100RPM OFF gt V SOLL 3000 RPM HWI2 uses Digital Input 2 ON gt MODE REG 1 velocity mode OFF gt MODE REG 3 gear mode HWI3 also uses Digital Input 2 ON gt V SOLL 100RPM OFF gt V_SOLL 3000 RPM This will keep the motor in Gear mode with maximum velocity of 3000 RM when none of the pushbuttons are activated and change to Velocity mode wit either 100 or 100 RPM as long as one of the pushbuttons are held active 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 TI1508GB 192 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 9 3 Motor registers MAC400 3000 Firmware MacTalk Range Size Description MacReglo Name Default Access Name dl pene rn temm 0 HW riw nd iri 0 RW nal bi 0 RW vw Mies 0 RW HWI5 Word ui See Reg93 HWIO for description 0 RW HWI6 Word m See Reg93 HWIO for description 0 RW 100 HWI7 Word E See Reg93 HWIO for description 0 RW 101 Word See Reg93 HWIO for description o a ree pr esr Sn mem emm _ ud a c E dn RR 105 MACOO TYPE not present Na Word Identifies the Generation 2 module type autodetected at 0 RW startup 0 No Gen2 module found 12MACOO B41 2 MACOO P4 or
30. SDOs are mainly used for transferring non time critical data for example identification configuration and acyclic data 9 4 4 Object Dictionary An important part of the protocol is the Object Dictionary which is different objects specifying the data layout 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 Object Dictionary can be accessed with SDO services Mandatory objects Index Read A hex Data Type only Description Contains information about the PST ore unstenense UNSIGNEDER pe device type This is the mapping error register Error and it is part of the emergency ob Register 1001 UNSIGNEDS ject If some of the sub index are high an error has occured po Generic error Mandatory Lo tage 9 PP Temperature gt Communication Overrun po Revie profile specific gt gt gt gt wa eee Identity Contain general information about a ee Vendor ID contains a unique value allocated to each manufactor ENDENE JA 0 0117 117h is JVLs vendor ID Mandatory Product Code identifies a specific device version 2 DBEA 0x0200 The MACOO EL4 EL41 has the product code 200h fe l UNSIGNEDS 0x20020 fa funsienebe X Senmbe 106 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 5 4 5 4 5 E
31. data transmission Emergency Object EMCY The EMCY is used for error reporting when a fault has occurred in the module or in the drive 34 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 3 3 Commisioning 3 3 1 Indicator LED s description The LED s are used for indicating states and faults of module There is one power LED two link activity LED s one for each Ethernet connector and 2 status LED s Indicator and label overview General status indicator E Error indicator Power indicator Line activity indicator Line activity indicator 00 50 C2 0 0 7 TT3010G8 MAG address Hardware serial number LED indicator descriptions LED Text Colour S Constant Double on No valid 2i dis L AIN Green Ethernet aid on line connection No valid Ethernet L A OUT Green Ethernet is n on connection connected Device Device state Device Device state RUN Green state INIT state Pre Safe opera tional operational tional Process data Critical com watchdog ie General munication timeout Booting ERROR DO enor or controller Pad Local error EtherCAT error error watchdog timeout Power is Power is ap applied to PWR Green Poweris not plied to both module but applied motor and no communi module cation with Notes Blinking Flashing with equal on and off periods of 200ms 2 5Hz Single flash Repeating on for 200ms an
32. velocities positions or modes For instance to switch between two target positions set Reg49 POSO to 1000 and Reg51 POS1 to 2000 and set the motor into position mode Then P SOLL can be set to receive either the value 1000 or 2000 depending on the voltage on the digital input 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 TIL507GE JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 191 9 3 Motor registers MAC400 3000 se a MacReglo Name Default Access Name 93 HWIO not Na Word Each of the HW 0 11 registers have the following bit fields Continued present 0 RW Bits 31 24 Destination register used only when bits 3 0 equals from last 7 Bits 23 16 Source register number 0 254 for 01 1 Bits 15 8 Source register number 0 254 for DI 0 Bits 7 4 Select digital input bit number in Reg106 Bits 3 0 Target register selection 0 1 MODE REG 2 V SOLL 3 P SOLL 4 A SOLL 5 T SOLL 6 INPOSWIN 7 Register number from bits 31 24 When the value of bits 3 0 are one of 1 6 the two source registers are implicitly fixed to the corresponding group of register and the value of bits 23 16 and bits 15 8 are used as an index into that group of registers For instance if bits 3 0 equals 3 the values of bits 23 16 and bi
33. 106 through 111 127 and 128 Bit 12 UV ERR The motor power supply voltage Reg151 U SUPPLY was measured to be below the value in Reg152 U MIN SUP and the drive was configured to set an error bit in case of undervoltage Bit 13 UV DETECT The motor power supply voltage Reg151 U SUPPLY was measured to be below1 25 times the value in Reg152 This is a warning bit not an error Bit 14 DIS P LIM When this bit is set during zero search or by the user the drive will disable its position limits So it can move also outside the position limit range This bit is cleared automatically when the actual position gets inside the position range again Bit 15 SSI ERROR TI1523GB 178 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 9 2 Motor registers MAC050 141 E Emme ext ems Run pemm 00 MacReglo Name Name Default Access CNTRL BITS Bit 0 USRINTFO Bit 1 USRINTF1 Bit 2 PULSEDIR Bit 3 INPSIGN Bit 4 HICLK Bit 5 HALL INT Bit 6 RECORDBIT Bit 7 REWINDBIT Bit 8 RECINNERBIT Bit 9 AUTO RESYNC Bit 10 MAN RESYNC Bit 11 INDEX HOME Bit 12 REL RESYNC Bit 13 HALL C Bit 14 HALL B Bit 15 HALL A ny 39 h wodofP HOME J So 40 X Velocity used during Zero Search Homing 41 THOME 1 gt home on falling edge of AN INP 42 HOMEMOEE X UsedbyFastMaccommands 43 PREGP pp 44 VREG
34. 120 management MFIB MFIA MF2B MF2 Haad Fos th owwn TE ja a js a omm 4 n 1 E Seres ME S re 11 Data enn Servo 1 Drag 1 Sen 11 Dac 2 Seno 11 Dataf3 t Sana VU Seres 10 Seve 10 Data X TO uy zom f Servo 10 Data ni 000 E Sewo 1 0 0 _ z Sena 1 Dan 3 512 e bo da har d bl 1 9 5eno 10D aad bis Changing the Servo O Data 0 tag will result in an immediate repositioning of the axle in the motor This value is defined in the IO assembly and is interchanged cyclic To stop the motor set Mode 0 and set Set Mode to apply the mode set ting Reset Set Mode to 0 again to stop sending Msg2 messages 7 To activate the explicit message Msg set the commanded position to a far greater value For example 200000000 as illustrated below Ex Servo 1 0 Data HH Servo 1 0 Data m gm TT3032GB 8 Find the Read Pos tag and set this to Now the current position of the motor is seen in the Actual Position tag JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 77 4 4 4 4 4 78 Commissioning How to setup a Rockwell RSLogix5000 Project After creating a new project in the RSLogix5000 application the
35. 197 es Cable 5 5mm with M12 female 5 pin eee wire ends 0 35mm 22AWG and foil screen W1I1000 M12F5TOSN Length As 197 j te Same as above but 20m 787 inch WI1000 M12F5T20N Ethernet cable with M12 female 4pin D X X coded straight connector and RJ45 WI1046 M12M4S05NRJ45 connector fits into std Ethernetport Ethernet cable with M12 female 4pin D coded straight connector loose ends WI1046 M12M4S05R pet Same as above but 15m 590 inch WI1046 M12M4S15R Protection caps Optional if connector is not used to protect from dust liquids IP67 protection cap for M12 female connector Wl1000 M12FCAP1 IP67 protection cap for M12 male connector WI1000 M12MCAP1 Important Please note that the cables are 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 expansion modules for MAC motors 25 2 4 Cable accessories Below can be found drawings of the most typical cables used with the Ethernet modules 2 4 3 Drawing WI1000 M12F5TO5N Cable for connecting power MD 5 pin femaleconnector J1 JE mmnm length 5 Text printed on green tube View fromfront Screen PF Ho using We pooo o CNN 10233 0 ING qu iln M12 shl cable 5 m 5 pin Fem 0 db el rove i L 1 C 5 4582 5
36. 26 3 00 00 00 48 TT3019GB zi 84 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 4 6 Configuration using different methods Then configure the maximum motor torque to be used The motor can reach peak torque of 300 the rated value This value corresponds to 1023 in the register We need 25 so we write 255 0x000000FF to instance 7 T SOLL Service hex 10 Class hes 54 Instance hex 7 Attribute hex fi Member hex Symbol Tag Request Data Each byte it 2 char hes value separated by a space fie 26 TT3020GB And finally we send the command that saves the settings permanently in flash This is ba sically a matter of writing the save in flash command to the command register 2 1 I in the motor The command is 2 and the instance is 21 OxD3 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 Service hex 1 0 Class hex 4 Instance hex Attribute hex fi Member hex Symbol Tag Request Data Each byte is 2 char hex value separated by space fie Da 26 F3 00 00 00 04 TT3021GB zl JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 85 86 4 7 Using and Selecting an Ethernet switch Depending on the network size and requested package interval RPI suitable switch must
37. 3000 Firmware MacTalk Range Size Description MacReglo Name Default Access Name 39 HW SETUP not E Word Bit 13 PULSE 8000 continued from last present RW If set rescale the 8192 encoder pulses to 8000 for MAC800 page compatibility and better Vel filter performance Bits 14 15 reserved Bit 16 DIRCDWR Direction signal for the MultiFunclo2 A channel or both A and B Bit 17 SELINDEX Not used prepared to select between encoder A or Index signal gt MultF Bit 18 ALWAYS COOL Bit 19 POSITION CAPTURE UP Used to enable SW position capture based on analogue input rising edge Bit 20 POSITION CAPTURE DN Used to enable SW position capture based on analogue input falling edge Bit 21 PULSE 8000 If set rescale the 8192 encoder pulses to 8000 for MAC800 compatibility and better Vel filter performance Bit 22 SCALING Reserved for freely selectable encoder scaling Bit 23 SBUF 2048 Set to use a sample buffer length of 2048 Use 512 if not set V HOME not Na Word to use during zero search operation Homing present 138 RW NH After the operation has completed the drive will go back to using the regular V SOLL wo to use during zero search operation Homing present After the operation has completed the drive will go back to using the regular T SOLL ia MODE not Defines if the motor should start a zero search immediately after present RW start up as
38. Analogue Input AIN 18 C Cables 24 Connectors 19 25 MI2 20 25 E Error output 8 Expansion modules MACOO BI B2 B4 12 15 17 21 23 24 F Features 8 G GND 19 21 Grounding 19 20 22 i In position output 8 Inputs See also AIN Multifunction 12 15 16 21 Pulse inputs 15 16 Introduction Features 8 IP67 2425 M MI2 20 25 MACOO B I B2 B4 Expansion Modules 12 15 17 21 23 24 General analogue input AIN 18 General hardware aspects 10 MACOO B4 cables 24 Power supply 17 MacTalk 19 Main Features 8 B RS232 19 2 Zero search 18 21 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 20 I 8 Index 202 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors
39. Colour Constant off Constant on Blinking Constant Blinking Blinking Flickering Green Green Red Red Red Green No valid Ether Ethernet is T L A No valid Ether Ethernet is p MOD Red No power Module status Module not Major MLG Self test in Green applied OK configured module fault fault progress Red CIP conection No CIP Duplicate IP y Self test in Power is applied Power is not Power is to module but no PUR Green applied applied communication with motor Notes Blinking Flashing with equal on and off periods of 200ms 2 5Hz Flickering Rapid flashing with a period of approximately 50ms 10 Hz 74 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 4 4 Commissioning 4 4 3 MacTalk Ethernet configuration The module is by default setup with the following Ethernet configuration MacTalk Noname File View Motor Setup Updates Help 165 814 gt n s Q e Open Save Save in flash Reset position Clear errors Reset motor Filter setup STOP Motor COM scan Setup Ethernet settings Celie data setup IP address 1 69 254 214 245 Read Word 1 2 Operating mode i 2565 D Read Word 2 1 0 Actual position Head Word 3 1 2 Actual velocity Default gateway 0 000 Read word 4 1 69 Actual torque Read Word 5 35 Error status Use BHEP to IP address write
40. Drive Drive Drive with with with EtherCAT EtherCAT EtherCAT module module module L A OUT L A IN L A OUT L A IN L A OUT EtherCAT master 1130076B 38 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 3 4 EtherCAT objects 3 4 1 Process Data Object 21 PDO JVL Profile PDO s Process Data Objects are used for cyclic transfer of time critical process data between master and slaves There is one receive PDO and one transmit PDO which is fully user configurable Tx PDOs are used to transfer data from the slave to the master and Rx PDOs to transfer data from the master to the slave lt is possibly to set up five or eight 32 bit registers in each PDO depending on the configuration See chapter 3 4 I I Object 0x201 I Subindex 6 Setup bits page 45 The setup is done with Mac Talk or via SDO object 0x201 I subindex 16 31 It requires a save in flash and a power cycle before the new configuration are used If the configuration of the PDO s is not altered by the user the MACOO EC4 EC4 module uses the default mapping shown in the tables below 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 15 register 983040 When module registers register numbers above 65535 are chosen they have to be placed
41. Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 9 3 Motor dm MAC400 3000 MacReglo Name Default Access Name PYM EE The target position that the drive will attempt to Velocit HW counts reach in position related modes P NEW not present E Encoder Used to update both P IST and P SOLL in a counts single atomic operation to prevent motor movements during the change P NEW holds either an absolute position or a relative position After writing a value to P NEW update both bits 8 and 6 in Reg36 CNTRL BITS Bit 8 SYNCPOSREL will select a relative position update when set or an absolute update when cleared Setting bit 6 SYNCPOSMAN executes the P IST P SOLL update that is either both are set equal to P NEW or P NEW is added to both using signed addition P FUNG is updated accordingly The undocumented FastMac commands 23 and 24 can also be used to set these bits and perform the same absolute and relative updates This is useful for expanding the logical position range beyond 2 31 V lundi Max Na Word Desired velocity 1 RPM 2 77056 counts sample 27 7 100RPM LEN Example To obtain 100 RPM V SOLL must be set to 277 un un Acceleration E The desired nominal acceleration 1000 RPM s 3 598133 counts Sample Example To obtain 100000 RPM s A SOLL must be set to 360 T SOLL Torque 0 1023 Word The maximum torque that the drive is allowed to RW use
42. MACOO EC Ethet tartup mode Y Eror handling C Passiva Change actuel mode Max Follow Veloa Max Function errors e Position linit min GearFollow Analogue velocity Position limit max Brno m velocity wilh deadband Enron acceleration TT3084GB Y Inputs Qutr 58 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 3 6 Examples Register 2 Operating mode has to be present in BOTH the cyclic read words and cyclic write words IN MacTalk Noname MacTalk Version 1 50 57 File View Motor Setup Updates Help pr Gs d gt e Open Save Save in flash Reset position Clear errors Reset motor Filter setup STOP Motor pe Main Registers Advanced Filter parameters Tests Scope MACOO EC EtherCAT Cyclic data elup Read Word 1 2 Operating mode ACUS Do Setup Ethernet settings IP address 192 168 0 59 Subnet mask 255 255 255 0 Default gateway 0 0 0 0 EtherCAT error handling D COM scan Read Word Read Word 3 12 Actual velocity Read Word 4 16 Motor load mean Read Word 5 35 Error status Read Word 6 0 No Selection Status Motor status Actual mode Position Actual velocity 116 Actual position 8962210 Follow error Function error Actual motor torque Motor load mean Regenerative load Inputs 4 44 44141 4
43. MNUSUP J p J p 154 SERIALNUMBER 32 di men O SERIALNUMBER HWVERSION LE CHECKSUM 32bit m hi word of EKUN UV HANDLE SET UV E Bit 1 Bit 2 unused Bit 3 UV VSOLLO INV OUTPUT Bit 0 INV INPOSOUT Bit 1 INV ERROROUT Bit 2 INVROTDIR Bit 3 OTUSERCTRL Bit 4 O2USERCTRL 162 INDEX OFFSET p PG 163 P NEW 32 bit 164 h wodofP 166 hi word of FILTERID a i67 HARDWARELIM Bit 0 HW NEG Bit 1 HW PLIM POS Bit 2 HW IN1 Bit 3 HW PLIM IN2 Bit 4 HW IN3 Bit 5 HW IN4 Bit 6 HW IN5 Bit 7 HW 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 1I1526GB JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 18 9 2 Motor registers MAC050 141 t icone ne aco PROM _ MacReglo Name Name Default Access 169 GROUP ID gt 170 Tenour sea yy E 171 MONITOR OMP PP 172 MONITOR REG PP 178 MONITOR REG2 pp pj py o 174 MONITOR ACT pp pp 175 MONITOR SRO PP ERES RE II 177 MONTOR SAV 178 SSI BITS1 7 snr ENABLE Bit 1 SSI DIR Bit 2 SSI POS SYNC Bit 3 SSI RESET Bit 4 SSI NOCHECK Bit 15 SSI ERROR CNTL gr ae Bit 1 OUTPUT O2 i 181 pq eee 182 UART1 SETUP Selects
44. See also figure in the introduction section Standard CAT 5 STP cables can be used It is not recommended to use UTP cables in industrial environments which is typically very noisy 122 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 6 2 3 6 2 4 6 2 5 Commissioning Network configuration To enable communication through the Ethernet network the module needs a valid IP address This is done either by MacTalk see the quick start guide or is done by DCP In the PROFINET IO protocol also a device name is required to identify the drive IO controllers and some configuration tools have a protocol called Discovery and Con figuration Protocol DCP for assigning the IP address and the device name The IP address shown in MacTalk is only a power on default When a PLC is connected the actual used IP can be another one configured by the PLC PROFINET IO and DCP When the module is initialized the IP address is transferred to the PROFINET IO com munication stack If there is aneed to change the IP address it should be done with a DCP tool like Siemens Step7 If some of the other methods are used to change the IP ad dress the module must be restarted to enable any changes Configuring the system After the MACOO EPx module has been mechanically and electrically installed according to the instructions in previous chapters and has been initialized by the drive the master station must be prepared
45. See also the illustration in the chapter Introduction page 94 Standard CAT 5 FTP or STP cables can be used It is not recommended to use UTP ca bles in industrial environments which is typically very noisy 5 3 3 Quick start This section describes the steps to configure the PLC B amp R X20 CP 1485 with B amp R Au tomation Studio PC software so that it can be used to control the drive Set node ID Connect the RS232 communication cable 2 Apply power to the motor and make sure the PWR LED is lit 3 Open MacTalk and select the MACOO EL Powerlink tab 4 Change the last number in the IP address node ID to one that doesn t conflict with other devices on the sub net 5 Press Apply and save Installation 6 Connect an Ethernet RJ45 M12 cable to IF3 on the X20 and to L A IN OUT on MACOO ELx 7 Connect power to the X20 and communication cable from the PC with B amp R Auto mation Studio installed to the X20 PLC either Ethernet or RS232 8 Make sure power is applied to all devices PLC configuration 9 Createanew project in Automation Studio for your PLC or open an existing project See B amp R documentation for more information 10 In the Project Explorer window open the Physical View tab Right click the node representing the CPU in this example X20CP 1485 1 and in the pop up menu select Open IF3 POWERLINK Configuration The POWERLINK Configuration window is opened 12 Make sur
46. T 1 amp 3 xx i EtheLAT 1 80 MALLO E xx MACUO EI EtherH etl 1 20 MACC Exx Cunert version Loading version MACOD EIx EthedNetl P Version 2 00 Status Translering 125 View Relase nctes Abort 51 R5485 Start x Select firmare v Show all Hes SMCOS5 firmware 1 04 SMCES MIS 34x SMCBS firmware 1 02 SMCES MIS 34 SMC85 firmware 1 01 SMCES MIS 34x MACOO Elx EtherNetiP 200 MACDD E Lx Powerirk 1 68 MACOD Exx MALOD E Cx Ethe CAT 183 xx EtherCAT 1 60 MACCO E xx MACDO Ex EtherH ct P 1 80 MACCO E xx gt Currert version Loading version MACOO Elx EtheNetlP Version 2 00 Status Done View Relsse notes MacTalk Noname Ee totor setup Updates H a 8 Save Savein flash Reset postion Cleaceror Frset malo a Regitters Advanced Fiter parameters Teste 5 Led Firmware Version V2 0 Build 167 Hardware Version V1 00 MAC 00 50 02 D0 C0 77 Serialnumber 83019 TT3039GB JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 13 2 1 Module types Changing the label and typenumber This illustration show how to apply the appropriate label in order to change the LED texts and also give the module its unique typenumber after the protocol firmware is load ed Sheet with type labels for each Ethernet protocol Peel off the relevant la
47. This bit reflects if the voltage at the CVO terminal is above a hardwired default value CVO is the supply voltage for the digital outputs meer em os 0 RW epe SE 0 RW queer p 0 RW uer ds 0 RW Gs mem 0 RW I O 113 MACOO 8 Na Word Bits 5 0 of this register controls the digital outputs O6 O1 B41 DO management 0 RW on the MACOO B41 module Each bit that is set here will Digital outputs enable the corresponding PNP output It is possible to overwrite these bits by using Registers 115 120 see below Also Reg215 IO POLARITY will invert the value of these bits before there are written to the hardware 120 and finally possibly having some bits inverted by 114 MACOO 9 I O Na Word Shows the status of each of the six digital outputs actually B41 DOSTATUS management 0 RW written to the hardware Reg215 115 MACOO 10 not present Na Word Controls 101 on MACOO B41 bit 0 in B41 DO B41 CONFO 0 RW Each of the B41 CONF5 CONFO registers be used to modify the corresponding digital outputs by effectively overwriting bits 5 0 in Reg113 B41 DO They can be set to replace the corresponding bit in B41 DO with any bit from any motor register in the range 1 254 typically status bits from Reg35 ERR STAT for instance bits INPOS or ANY ERR Bits 31 24 reserved Bits 23 16 Source register number 1 254 Bits
48. after the motor registers in the list of cyclic registers 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 Default iuda in transmit PDO 21 pue Master CT DT ONE Be 31 4 eit aAsvalpostien a w vist mevaveoety me 0 2 Operangmode Please notice Even though all registers is transmitted as 32 bit some of them originally derive from 16 bit in the case of MACO50 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 expansion modules for MAC motors 39 3 4 EtherCAT objects 3 4 2 Minimum cycle time JVL Profile The minimum cycle time is the minimum amount of time between each cyclic request PDO on the Ethernet If the module is mounted in MAC050 MAC 141 it is possible to add a poll division factor either in the EtherCAT tab in Mactalk or manually in module register 8 See chapter 3 4 13 Object 0x201 I Subindex 8 Poll division factor page 46 The positions 6 8 is only transferred if enabled See chapter 3 4 I Object 0x201 I Sub index 6 Setup bits page 45 If operating with values lower than those listed data loss will occur No of motor registers transmitted Motor series Motor series in
49. and Motor reg isters MAC400 3000 page 184 16 Write multiple registers HEX Slave 10 fi Cea RR send 005 0000 Send Address 4 Cancel Quantity 2 Edit Open TT3063 01GB Note Even though all registers is to be transmitted as 32 bit some of them originally derive from 16 bit in the 50 141 In those situations it is necessary to inter pret them as l6 bit to get the sign correct 152 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 7 3 Register access The registers in the motor and in the module are all 32 bit at least they are when travel ling through the module so special care must be taken with those registers in 50 141 which originally is 6bit To comply with the clean 6 bit Modbus standard a 32 bit register must be read or written as two consecutive 6 bit registers The register ad dress mapping follows the normal documented register numbers but the address field must be multiplied by two so to read or write motor register 3 P SOLL use the address 6 Thereby enabling transfer of one 32 bit register as two 16 bit registers where the least significant 16 bit register is transmitted first see examples in section 7 2 4 Motor registers is accessed by addressing register 0x00 FE for logic motor register 0 255 and module registers is accessed by addressing 0x8000 0x807E for logic mod ule register 0 64 Please find a complet
50. as motor tem perature and setup parameters EtherNet IP is object based similar to DeviceNet and follows the standards issued by ODVA For more information on EtherNet IP please visit www ODVA org for further details on EtherNet IP and to get the EtherNet IP standard specification issued by ODVA continued next page JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 4 1 4 1 2 Introduction to EthernetIP The JVL implementation supports manufacture specific objects to gain access to each register in the motor This manual assumes that the servomotor user manual has been read and a base knowl edge using the servomotor and the configuration software Mac Talk is acquired The examples and screen shots in this manual are taken from Mac Talk and a Rockwell RSLogix5000 application Please be aware that other PLC vendors than Rockwell exist Daisy chaining Up to 64 units nodes can be daisy chained By daisy chained means making a direct cable from the master in the system to motor I L A IN From motor I L A OUT to motor 2 L A IN etc This method is saving hardware since no switch es and can often be the simplest way of doing the wiring The disadvantage is that the data will be delayed slightly depending on how many motors that are daisy chained and the network load will be significant if a larg er number of motors is connected this way Another and more common solution is to use
51. be used Also if multiple separated networks needs to be connected switch is used Depending on the actual size of the network different requirements needs to be meet Generally using EtherNet IP with a fair package interval a Gbps switch is typical ade quate along with the following features Auto negotiation full duplex 100 MBit e Port mirroring for network analysing and troubleshooting purposes This feature makes it possible to route traffic out on a separate port connected to a network an alyser for debugging purposes and general performance monitoring 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 The disadvantage of this approach is that the package RPI timing is reduced as each motor needs to handle the incoming traffic for the other motors connected on the line JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 4 8 4 8 1 4 8 2 Examples Rockwell RSLogix example 1 This is a simple example demonstrating the usage of both explicit messages and lO as semblies to control JVL MAC400 servo motor This example holds a few tags to control the inputs and outputs and a 3 rung ladder pro gram to demonstrate the explicit message usage With this example it is possible to control the positioning of the motor using the Position mode and set profile data such as velocity acceleration a
52. 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 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 Default registers in transmit PZD Slave Master Read words in MacTalk Object index Motor Motor register short Motor register description Register no po p VODE REG Operating mode IST Actual postion VIST Actual velocity 3 3 169 VF OUT ERR STAT Default registers in receive PZD Master gt Slave Write words in MacTalk Object index Motor Motor register short Motor register description Register no bo e voe Opeagmode S Maximum veloci _ Please notice Even though all registers is transmitted as 32 bit some of them originally derive from 16 bit in the case of MACO50 141 In those situations it is necessary to interpret them as l6 bit to get the sign correct 128 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 6 3 PROFINET objects 6 3 2 Minimum cycle time The minimum cycle time is the minimum amount of time between each cyclic request on the Ethernet If operating with values lower than those listed data loss will occur No of mo
53. 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 expansion modules for MAC motors 89 4 8 Examples 4 8 4 Homing using only cyclic 1 0 JVL profile When doing a homing Zero search with only cyclic I O some preconditions have to be met Zero search position zero search velocity and zero search torque torque only for MAC motors has to be set in MacTalk in the Main tab and saved in flash in the motor once and for all Mac Talk Noname File View Motor Setup Updates Help MacTalk Version 1 50 57 5 3 Ga Save in flash Reset position Gear errors Resetmotor Filter setup STOP Motor COM s 57 handling Max Follow emars Function amas Position limit min C Analogue velocity Position limit max Analogue velocity with deadband Analogue velociy gea Eno acceleralinn C Melacitu analague torque i T Inputs Qutputs ME ISLE iE iret Output 1 01 Anal LT Col roc D lever Output 2 02 C Analogue biposition 101 User cortrolled C Analogue lo position 102 User cortsolled S e velocity mj Acceleration un Tongue Load 1 0000 Zero search position Zero search welocily 7 Motion parameters Position 9900000 x Counks In position window 100 Samples 11308368 RZ Undervoltage gt Set error bit Gein passive Min voltage Sta
54. descriptions in the appendex Motor registers MAC050 141 page 175 and Motor registers MAC400 3000 page 184 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 6 3 PROFINET objects 6 3 4 Accessing parameter objects Parameter objects are accessible by use of acyclic data In Siemens Step 7 this is done with the Special Function Blocks SFB52 and SFB 53 Write parameter Write to parameters is done with the SFB53 as shown below WRREC DE 113 1 WRREC 3 Int to Int L ENO 113 1 DOME 57 REQ BUSY 4 084 DEDO ERROR 4 Req Wrte DE ID ID STATUS hDB4 DBWB Write DE Index INDEX DB4 DBWTO Req Write DE LEN LEN 084 0604 Reg Write DE Record BECORD 11 3054 UIGB The data block must be setup prior to use in this example Req Write DB Name Description Eampe ID ID of device 2042 Index Object and subobject to write to 0x1231 Object 0x12 parameter 0x31 High byte Object Low byte Subobject parameter register no Length of data 4 always 4 byte 32 bit 32 bit data to write OxFEDCBA98 Example Write OxFEDCBA98 to object Ox 12 subobject 0x31 motor register no 49 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 MACO50 141 In those situations it is necess
55. es Peeesesedie L TN Manufacturer specific name VISIBLE STRING Manufacturer hardware ver 1009 sion Manufacturer software NE Example Version x x version Identity Contain general information about 4h Number of entries Mandatory Number of entries Mandatory Vendor ID contains unique value allocated to each manufactor 0x0117 117h is JVLs vendor ID Mandatory Man ufacturer UNSIGNED32 Product Code identifies specific device version SIGNED 0x0200 The MACO0 EC4 EC41 has the product code 200h UNSIGNED32 UNSIGNED32 LM Serial number JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 3 4 EtherCAT objects 3 4 7 Manufacturer specific objects The manufacturer specific objects provides access to all module registers and all motor registers as well as module command object Index Read hex Type only Description Module command object See possible com Module High 16 bit of MAG address placed in low 16 bit 1 UNSIGNED32 X me of word 2 Junsienebse X Low32biofMACaddes 3 UNSINEDZ UNSIGNED32 UNSIGNED32 5 UNSIGNEDs og 7 UNSIGNED32 UNSIGNED32 UNSIGNED 10 UNSIGNED32 1 UNSIGNED3 3214 UNSIGNEDS2 15 UNSIGNED32 16 UNSIGNED32 UNSIGNED UNSIGNED32 UNSIGNEDa2 16s UNSIGNEDS2 35
56. expansion modules for MAC motors 189 M Motor registers MAC400 3000 MacReglo Name Default Access Name m dem e em P1 0 HW eme p present 0 RW P2 0 present 0 RW P3 0 RW R A co 2 Na Word present 0 RW P4 0 RW CAPCOM3 not Na Word present 0 W P5 0 RW CAPCOM4 not Na Word present 0 RW P6 0 RW 5 Na Word present 0 RW POS6 Position7 Na Word P7 0 HW CAPCOM6 not Na Word present 0 RW P8 0 RW CAPCOM7 not Na Word present 0 RW 9 VELO Velocity 1 Na Word Velocity register V1 Used with the fastmac protocol or V1 277 100RPM RW by the MACOO H1 3 4 nanoPLC module See also V SOLL register 5 which have the same scaling n n n n o VEL1 Velocity 2 Na Word Velocity register V8 see also register 65 V2 2 100RPM W 67 VEL2 Velocity 3 Na Word Velocity register V8 see also register 65 V3 277 100RPM RW VEL3 Velocity 4 Na Word Velocity register V8 see also register 65 V4 277 100 RW VEL4 Velocity 5 Na Word Velocity register V8 see also register 65 V5 277 100RPM W W W R R R Velocity6 Na Word Velocity register V8 see also register 65 V6 277 100RPM R 1 VEL5 VEL6 Velocity 7 Na Word Velocity register V8 see also register 65 V7 277 100RPM R VEL7 Velocity 8 Na Word
57. for communication with the module Configuration of the mas ter station requires a type definition GSD file In PROFINET IO the GSD file is written in XML based language called GSDML MACOO EPx has a GSD file which is available from www jvl com or your local JVL representative The filename is GSDML V2 2 JVL MACOO EPx yyyymmdd xml The GSD file describes vendor specific features of the module Please refer to the master station documentation for more information on activating PROFINET IO devices with GSD file PROFINET 10 in MACOO EP4 EP41 MAC00 EP4 EP41 uses slots 0 and Slot 0 does not have any sub slots and the DAP module 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 and its sub slots Slot 0 Device access point DAP e Slot I sub slot Vendor object Slot I sub slot Acyclic parameter access The MACOO EPA EP4 module provides the following services e Cyclic messaging e Acyclic parameter access mechanism e Identification amp Maintenance functions I amp M JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 123 6 2 Commissioning 6 2 6 Dynamic IP and naming With DCP Discovery and Configuration Protocol the IP address and Name of station in the device can be changed on the fly by the PLC Therefore the IP address shown in MacTalk is only the power up default
58. if desired Object 0x Subindex 16 23 Register no to place in Transmit PZD These registers contain the numbers that define the registers which are in the transmit PZD That is the register s which is transmitted from slave to master cyclically If some of these registers are changed it is necessary to issue save in flash command and to reboot the device before the changes take effect Object 0x Subindex 24 31 Register no to place in receive PZD These registers contain the numbers that define the registers which are in the receive PZD That is the register s which is transmitted from master to slave cyclically If some of these registers are changed it is necessary to issue save in flash command and to reboot the device before the changes take effect Object 0x Subindex 32 38 These registers contain HW SW and communication information of the module Object Ox I Subindex 47 Digital inputs on module With this object the status of the 4 digital inputs can be read The availability of the inputs depends on the actual version of the module used MACOO EP4 only support Input I INI MACOO EP4 supports input I 2 3 and 4 INI IN2 IN3 and INA Object Ox Subindex 48 Status bits This E is zi xe for E m me c the at La c E i E com Eur M i E error error error tion with error Object 0x12 Object 0x12 are for acyclic view or change of motor registers Please find a complete list of register
59. l Motor statu Agua mode Actual velocity Aciual pasikor Follow error Function error met settings data setup ddress Read Word 1 2 Operating mode Read Word 2 35 Error status Read Word 3 J No Selection auk gateway 0 0 0 Read Word 4 0 No Selection Read Word 0 No Selection n 1 net mask CAT error handling 4 Read Word 6 0 No Selection dotor set Passive mode Read Ward 7 dotor set velocity 0 Read Word 8 0 No Selechon No Selection La La La le Le la rool settings Write Word 1 Operating mode ien alias Wite Word 2 383040 General command Wie Wel 1U No Selection Ls division Wile Word 4 0 No Selaction Vite Word 5 ID No Selectict Ma Selection TT3086GB ENKI Procedure in the PLC Set up register P7 in motor to requested relative offset 2 Make sure one net cycle has passed so P7 resides in the motor 3 Issue command 0x800000F I 0x8000007 I if MIS34x in module command register register 983040 in MacTalk 4 Make sure one net cycle has passed so command is interpreted by the motor 5 Set module command register to zero This will prepare the Ethernet module for new commands 6 lf needed then monitor register 35 Error status When bit 4 is set in position then the move is finished 7 When new relative move is requested to step 3 You may also have the P7 register in the cyclic write lis
60. motor Write Word 1 2 Operating mode Write Word 2 Requested position write Word 3 5 Velocity Write Word 4 Torgue Write Word 5 6 Acceleration The requested velocity is set in the 3 word lell The requested acceleration is set in the 5 word TT3016GB With the settings illustrated above we initiate the velocity mode by writing Ox to the first word value this is velocity mode From the Master the registers is accessed using the PDO21 and accessing the registers R W on words 1 5 Since different PLC s have different methods of implementation the basic steps is de scribed in the following Set the needed velocity V SOLL V x 2 77 rpm Ex We need the motor to run with a constant speed of 1200 RPM So V SOLL 1200 2 77 433 cnt smp 2 Set the needed acceleration A SOLL A x 271 RPM s Ex We need the motor to accelerate with 100000 RPM s so A SOLL 100000 271 369 cnt smp 3 Now set the motor into velocity mode and thereby activate the motor Ex The motor needs to be activated by setting it into velocity mode so we need to set the mode register to the value Mode which is velocity mode now the mo tor will use the acceleration and the velocity just configured Please find complete list of register descriptions in the appendix Motor registers MAC050 141 page 175 and Motor registers MAC400 3000 page 184 114 JVL Industri Elektronik A S User Manual Ethernet
61. 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 expansion modules for MAC motors 167 8 3 Setting up MacTalk for Ethernet Step 4 Lets assume that the motor with the IP address 192 168 0 58 is connected to the PC from where Mac Talk is running or the same network that the PC is running we enter the IP address Insert the IP address here r My MacTalk Nona File View Offline MACOO0 RxP Setup Updates Help MacTalk Version 1 50 49 t 3 gt STOP es ETH Open Save Filter setup Main Registers Advanced Filter parameters Tests Scope TT3076 01GB Step 5 Since it is the first time the address is entered Mac Talk offers the possibility to sign in the IP address and assign an alias name to this IP address which is stored and later be shown in the address field instead of remembering the IP address of the motor This greatly helps managing multiple motors in a network instead of handling all the anonymous IP addresses Step 6 The following dialog appears when new address is entered Do you want to add the IP to the list and assign name TT3077 01GB Step 7 Pressing Yes will show the list of IP addresses and user composed names Please enter IP address for the motor Advanced options IP address User composed name Clear list Delete TT3078 01GB 168 JVL Industri Elektr
62. perhaps the single most important value of the filter setup Always try to set this right before experimenting with filter setups TIL501GB JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 185 9 3 Motor registers 400 3000 Ne macRegio Name Name Access MacReglo Name Name Default Access 14 GEARF1 Gear Word The nominator used to scale gear pulses from an factor 2000 RW external encoder source Used in gear modes Input 15 GEARF2 Gear Na Word The denominator used to scale gear pulses from an 500 RW external encoder source Used in gear modes Output JJ 4 I I 2 2 2 2 2 2 27 16 l2T Na Word The calculated power dissipated in the motor and thus 0 R an approximated value for the rise in temperature inside the physical motor See also I2TLIM Reg 17 MacTalk value is calculated as I12T I2TLIM x 100 17 I2TLIM not Na Word The limit for the value of Reg16 I2T where bit motor will change into passive mode 18 UIT Na Word The calculated power dissipated in the internal power 0 R dump brake resistors and thus a way to estimate their rise in temperature See also UITLIM Reg 19 MacTalk value is calculated as UIT UITLIM x 100 19 UITLIM not Na Word The limit for the value of Reg18 UIT where bit 3 motor will change into passive mode 20 FLWERR Na Word Encoder A mea
63. protocol The final user can setup it up for any of the available protocols just by using the general MacTalk windows software The visible LED marking lables etc only states that its a neutral MACOO Ex4 Ex4 I module e Pre loaded module a specific protocol has been installed The modules MACOO EC4 EC4 EtherCAT MACOO EI4 El41 EtherNetIP and MAC00 EL4 EL41 POWERLINK MACOO EP Profinet MACOO EM Modbus TCP are setup at delivery with the relevant protocol and also the right LED marking The final user can setup it up for any of the available protocols just by using the gen eral MacTalk windows software The visible LED marking and type number is unique for each module type All modules when not delivered mounted in a MacMotor is followed by a little label sheet containing labels for all the available standards and standards to come The overall idea is that any module can be changed to another protocol if desired the modules can stay neutral when it passes the distribution channel and be setup by the end user simplifying the logistics How to setup a module for a protocol Only 2 steps are needed in this process Install the intended protocol firmware in the module 2 Apply or changing the label with LED marking and typenumber 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 2 1 Module types How
64. the module with default values A few of them are set depending on the motor type the module is mounted in either MAC50 141 or MACAOO 800 1500 or 3000 None of the parameters can be saved to flash in the mod ule The following table shows the additional object dictionary defined for DSP 402 sup port Continued next page JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 49 3 5 CiA DSP 402 drive profile dd it Device data 6402 o Moorie i _ 6403 0 Motorcataloguenumber RO MACH 6404 0 Motor manufacturer Sr RO JVL Industri Elektronik ATS 6405 http motor catalogue Str www JVL dk address 6502 0 Supported drive modes U32 RO 0x00000025 6503 0 Drivecataloguenumber Sr RO MACox 6504 0 Drive manufacturer str RO JVL Industri Elektronik A S 6505 O http drive catalogue address Str RO Digital 1 6000 0 Digtalinputs poz ROP eE 0 Digtaloutputs 1U8 orp 1 Physcaloutputs 03 RWP 0 gt Device control 640 O Controlword Ul RP h 5 0 Sauwod UNS W P 05A 0 Quickstopoptioncode H6 RW 2 6085 o Qukkstpdeceleraion U32 RW 5000 6060 0 Modesofoperation e RWP _ 6061 0 Modesofopeaiondspay 8 ROP S77 0 Maxtorque vis W P 100 807399 0 Maxcurent Ul6 RW 6075 0 Ratedcurrent o RW 900
65. v Motor Setup Updates Help MacTalk Versione 1 50 57 pr gt sD g Save Saveinflash Reset position Clear errors Reset motor Filter setup STOP Motor COM scan legisters Advanced Fiker parameters Tests Scope MACODEC EtheiCAT Status l Motor statu Agua mode Actual velocity Aciual pasikor Follow error Function error met settings data setup ddress Read Word 1 2 Operating mode Read Word 2 35 Error status Read Word 3 J No Selection auk gateway 0 0 0 Read Word 4 0 No Selection Read Word 0 No Selection n 1 net mask CAT error handling 4 Read Word 6 0 No Selection dotor set Passive mode Read Ward 7 dotor set velocity 0 Read Word 8 0 No Selechon No Selection La La La le Le la rool settings Write Word 1 Operating mode ien alias Wite Word 2 383040 General command Wie Wel 1U No Selection Ls division Wile Word 4 0 No Selaction Vite Word 5 ID No Selectict Ma Selection TT3086GB ENKI Procedure in the PLC Set up register P7 in motor to requested relative offset 2 Make sure one net cycle has passed so P7 resides in the motor 3 Issue command 0x800000F I 0x8000007 I if MIS34x in module command register register 983040 in MacTalk 4 Make sure one net cycle has passed so command is interpreted by the motor 5 Set module command register to zero This will prepare t
66. vate time out and change the state of the adapter module from Operational to Safe Op erational Note EtherCAT has been designed so that it provides no way for a slave to monitor the connection to the master if the slave gets no output data Note The drive reaction to a communication fault must be configured in the module write flag register object 201 I subindex 6 motor set passive or motor set velocity 0 32 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 3 2 Protocol specifications 3 2 5 EtherCAT State machine Both the master and the slaves have state machine with the states shown below After boot the slaves are in INIT state and then it s up to the master to request state transi tions The standardized EtherCAT 9 state machine is defined in the following figure The bootstrap state is not supported Init m r Pre Operational Bootstrap PS SP Safe Operational OS SO Operational TT3009GB The module enters the Init state directly after start up After this the module can be switched to the Pre Operational state In the Pre operational state the EtherCAT mail box communication is allowed and CoE objects can be accessed by SDOs After the mas ter has configured the slave it can switch the module to the Safe Operational state In this state in
67. velocity V IST is sent back in this word Follow error the position error Motor load mean The mean load on the motor letet Error Status holds information regarding motion status and error status code if any Write Word 1 2 Operating mode Write Word 2 Requested position Write Word 3 5 Velocity White Word 4 IB Acceleration Write Word 5 0 No Selection Operating mode is used to enable disable the motor Values Passive mode 0 Position mode 2 Requested position Sets the P SOLL value Velocity sets the V SOLL requested velocity value The resolution is 100 RPM 277 counts sample Acceleration requested acceleration Not used Any register can be inserted here 6 5 3 General considerations The register 35 in the motor holds information on the actual error status So it is crucial that this register is configured in the cyclic data and thereby obtained and monitored in the Master In case of an error situation the motor will stop and the cause will be present in the register 35 and hence in the I O data This register also holds information on the motion status such as e In position bit 4 Accelerating bit 5 Decelerating bit 6 Please find a complete list of register descriptions in the appendix Motor registers MAC050 141 page 175 and Motor registers MAC400 3000 page 84 The JVL motor is basically put into a working mode and into a passive mode where the motor axle is d
68. what protocol to run on the RS422 lines that can be used for Pulse In Pulse Out or Serial Data The selection in this register is used only if the lowest two bits in Reg36 CNTRL BITS are set to Serial Data Values of Reg182 UART1 SETUP 0 Autodetect incoming 1 Megabit Modbus telegrams for a few seconds after startup Stay in Modbus if any valid Modbus telegrams detected else switch to 19200 baud FastMac and stay in Fastmac 1 Run the FastMac protocol at 19200 baud from the beginning and stay in FastMac 2 65535 Run 1 Megabit s Modbus from the begi and stay in Modbus 183 STATUS BITS pup 184 wr L ML E E 185 MODEI M2 jJ f po ooo 186 MODE2 MS pp P p 187 MODS3 MA S _ S P 188 HWIO S2 bit S o 189 h wordofHWI pp 190 HWH S2bit PP 191 hi wodof HWH 192 HwI2 32 bit S o 193 hiwordofHWi2 pp gt 194 HWI3 32 bit J pp gt 195 hiwordof HWI3 196 HWI4 32 bit o 197 hiwordofHWi4y pp gt TIL527GB 182 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 9 2 Motor registers MAC050 141 EE MacReglo Name Name Default Access 89 Inns 200 _ PP _ 201 hi wordof HWI 1 202 _ HWI7 32 bit J o S S S S S 208 hiwordof HWI7 pp PP 204 pp Reserved for future purposes 205 pp Reserved for future purposes 200 pp Reserved for future
69. 0x00000000 0 DINT i Input 1 DINT In 1 0x01EDE6F3 3236 DINT Input 1 1 DINT In 2 0 00000000 0 DINT Input Q1 1 DINT In 3 0 00000200 733 DINT Input Q1 1 DINT In 4 0x00000040 64 DINT Input OT wcState 0 BOOL i Input OT state 0 0008 8 UINT Input AdsAddr 8 630201 AMSADDRESS Input L1 DINT Out 0 0 00000000 0 DINT Output 11 DINT Out 1 0 00000000 0 DINT Output 11 DINT Out 2 0 00000000 0 DINT Output TT3006GB 11 DINT Out 3 0 00000000 0 DINT Output 11 DINT Out 4 0 00000000 0 DINT Output 10 If DSP402 drive profile is selected the JVL device is named Drive instead of Box as shown in the picture JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 37 3 3 Commisioning 3 3 3 Mechanical installation The network cables must be connected to the two M12 connectors marked IN and L A OUT on the module The cable from the EtherCAT master is always con nected to the L A IN port In the line topology if there are more slave devices in the same line the next slave device is connected to the port marked L A OUT If there is a redundant ring the right L A OUT port of the last slave device is connected to the second port of the EtherCAT master See the figure below Standard CAT 5 FTP or STP cables can be used It is not recommended to use UTP cables in industrial environ ments which is typically very noisy
70. 1 Using cyclic I O messages 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 81 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 EthernetlP 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 Cycle data setup Read Word 1 1 0 Act
71. 1 0 Data 2 z 6 Acceleration 2 Cnt s 2 543 RPM s E Servo 1 0 Dataf3 512 7 Torque 512 512 150 H Servo 1 0 Datald 0 0 No Selection value is not updated TT3031GB 76 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 4 4 Commissioning 6 Now wewill set the motor into an active mode position mode find the Controller tag Mode enter 2 find the tag Set Mode enter Now the motor is active and will start moving to the entered position in the Servo O Data 0 which is as signed to the requested position register in the motor When the motor reaches the position it will stop and hold this position From MacTalk the actual mode see the status panel is changed from Passive to Position and the motion progress can be followed Remember to change the set Mode tag back to 0 to stop the sending of Msg2 messages Logix 5000 tag list MacTalk status bar Hel dep prn k Scope fases v Show f r Tag Hane Tele Value Farce Mask Decima DIN Status 1 Ete ab T 1 Motor status Fett 1 0 fens Actual mode on Boca TEES ERI velocity RE Le e I leel xs Actual position Counts Motor load mean 1 Regenerative load D z Temperature 3B Inputs Bus voltage 313 Volts Control voltage 24 Volts Velocity of input 0 Cts Smp Analogue input AINT 0 32 Volts Analogue input AIN2 0 40 Volts V
72. 100 000 RPM s2 SO A SOLL 100 000 271 369 cnt smp 0x0171 Insert the calculated values in send frames and send to motor as shown below modbus address 10 11 register 5 modbus address 12 13 register 6 Remember to press the send button for every new value Address 10 Address 12 Quantity 2 Quantity 2 TT3065 01GB Now set the motor in velocity mode and thereby activate the motor Ex The motor needs to be activated by setting it into velocity mode so we need to set the mode register to the value Mode I which is velocity mode now the motor will use the acceleration and the velocity just configured Modbus address 4 5 register 2 Slave ID 1 Address 4 Quantity 2 TT3066 01GB JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 159 7 4 Examples 7 4 2 Running Position control Running the motor in position control requires that the mode register is set for position control The following registers is of particular interest when position mode is used e Poll registers Actual position P IST register 10 Actual velocity V_IST register 12 Motor load mean average motor load register 16 Follow error The actual position error register 20 Error Status register 35 Write registers Mode mode register 2 Requested position P SOLL register 3 Requested velocity V SOLL register 5 Requested acceleration A
73. 13 Forward only zero search mode 4 For ward backward zero search mode only MAC motors For a comprehensive description of the homing modes refer to the general MAC motor manual LB0047 xxGB e Observe that the Actual Mode is changing to the homing mode Now the module is blocking cyclic writes TO the motor Cyclic reads is still active e 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 expansion modules for MAC motors 17 5 7 Examples 5 7 5 Relative positioning There are number of ways to do relative positioning but the one explained here is very simple and can be used with constant distance or exchangeable distance to move eve ry time it is requested Preconditions Place the module command register register 983040 in MacTalk in the cyclic write list The cyclic setup could for example look like this ik Noname v Motor Setup Updates Help MacTalk Versione 1 50 57 pr gt sD g Save Saveinflash Reset position Clear errors Reset motor Filter setup STOP Motor COM scan legisters Advanced Fiker parameters Tests Scope MACODEC EtheiCAT Status l Motor statu Agua mode Actual velocity Aciual pasikor Follow error Function erro
74. 2 word holds the data from the errar status Fead word 3 0 Selection register This data is bitfield structure holding both Head Word 4 0 Selection Head 5 0 Selection motion related information and present error type The operation mode is set in the 1 Ward O passive mode and 1 Weloc ity mode Write Word 1 2 Operating mode Use passive mode to stop the motor and Write Word 2 5 Velocity velocity mode to start the motor Write Word 3 6 Acceleration Write Word 0 ha Selector The requested velocity is set in the 2 word Write Word 5 0 Selection The requested acceleration is set in the 3 word TT3056 01GB With the settings illustrated above we initiate the velocity mode by writing to the first word value this is velocity mode Since different PLC s have different methods of implementation the basic steps is described in the following Set the needed velocity V SOLL V x 2 77 rpm Example We need the motor to run with a constant speed of 1200 RPM So V SOLL 1200 2 77 433 cnt smp 2 Set the needed acceleration A SOLL Ax 271 RPM s2 Example We need the motor to accelerate with 100000 RPM s2 so SOLL 100000 271 369 cnt smp2 3 Now set the motor in velocity mode and thereby activate the motor Example The motor needs to be activated by setting it into velocity mode so we need to set the mode register to the value Mode 1 which is velo
75. 2 168 0 53 Default gateway 0 0 0 0 Subnetmask 255 255 255 0 Read Word Z TU ermat posit Read Word 3 12 Actual velocity EtherCAT error handling Read Word 4 16 Motor load mean Read Word 5 35 Error status Read Word 6 0 No Selection Function error Actual motor torque Motor load mean Regenerative load Inputs 4 44 44141 4 Supply voltage Analogue input Errors Motor set Passive mode Read Word 7 0 No Selection Read Word 8 0 No Selection C Write Word 1 2 Operating mode Write Word Hequested postiar 0 Poll division 0 Write Word 3 5 Velocity Motor set velocity 0 Protocol settings Station alias Write Word 4 6 Acceleration Write Word 5 0 No Selection Write Word B 0 No Selection Write Word 7 0 No Selection Write Word 8 0 No Selection _ Status ModbusTEP timeout 100 ms Enable DSP402 drive profile Status ydeismmig Firmware Version V3 22 Build 470 Hardware Version V 2 00 MAC 00 50 C2 DO FF FF Serialnumber 11111 Clear Log Apply and save TT30856B MAC140 Version 9 01 5N 86855 MACOO0 ECx EtherCAT v3 22 Connected Procedure in the PLC e Treat the transmitted Register 2 as Requested Mode and the received register 2 as Actual Mode When homing is wanted set the Requested Mode to one of the values 12 13 or 14 depen
76. 2M4S05R See note ZR 3 Ethernet Receive channel 0 positive terminal Blue White Ethernet Transmit channel 0 negative terminal Ethernet Receive channel 0 negative terminal Shield Outside shield connected to connector housing Shield OUT Ethernet port connector M12 4 pin female connector coded JVL Cable Isolation Wl1046 group Description M12M4S05R see note M m Outside shield connected to connector housing Note Isolation group indicate which terminals circuits that galvanic connected to each other In other words group 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 input supply JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 23 2 4 Cable accessories 2 4 1 Cables for the MACOO Ex4 basic version The following cables equipped with M12 connector can be supplied by JVL MACOO Ex4 Connectors Description JVL Order no OUT 1 0 i 4pin 8pin Female Female RS232 Interface cable Connects directly from MACOO Ex4 to a PC RS232 M12 1 5 8 Length 5m 197 inch Cable with M12 male 8 pin connector loose wire ends 0 22mm 24AWG and screen WI1000 M12M8TOSN Length as 197 aoe Same as above but 0m 787 inch WHOOO M12M8T20N Cable 5 5mm with M12 female 5 pin c el wire en
77. 3 4 21 Object 0x2011 Subindex 48 Status bits This register is used for miscellaneous information about the module 1 No communication with Output Reserved He Reserved 3 4 22 Object Ox2012 Object 0x20 12 are for acyclic view or change of motor registers Please find complete list of register descriptions in the appendix Motor registers MAC050 141 page 175 and Motor registers MAC400 3000 page 184 3 4 23 EtherCAT Slave Information file EtherCAT Slave Information file ESI isa XML file that specify the properties of the slave device for the 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 lo EtherCAT 48 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 3 9 3 5 1 3 5 2 3 5 3 CIA DSP 402 drive profile Introduction The MACOO 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 Th
78. 41 Modbus TCP IP Technical specifications Galvanic isolated OOMBit full duplex 100Base Tx no termination necessary Network topology Line ring tree and star possibly Forwarding delay 10 130us Minimum cycle time 2ms with MAC400 3000 Max 100 m cable between slaves Protocol e Function codes supported 3 16 Max 124 modbus read registers per frame 62 32bit registers Max 2 modbus write registers per frame 32bit register 32bit support by 2x 1 6bit registers Only even no of 6bit registers I O mode Server port 502 Connectors e PWR power MI2 connector 5pin male e MI2 connector 8pin female e and L A OUT Ethernet MI2 connector 4pin D coded female Supply Supply voltage CV 12 48VDC Nominal absolute max 50V Current rating 24V DC CV typical 50mA max 250mA User l O Digital input impedance 4 7k Digital input current 24V 5 mA Digital output current HW rev Up to 1 2 I0mA Digital output current HW rev from 1 3 5 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 9 2 Motor registers MACOSO 141 9 2 1 Register list for MAC050 095 140 and 141 The following list is only valid for the MAC50 MAC95 MAC 140 MAC 141 motors Please notice At the Ethernet modules all registers is transmitted as 32 bit some of them originally derive from 16 bit in the case of MAC050 141 In those
79. 550 Power ZEE i i 2 4 4 Drawing WI1046 M12M4SO5NRJ45 Cable that connects the Ethernet from M I2 to RJ45 connectors M 12 4 pin male Connector type RJ 45 connector Ethernet with internal metal D Coded housing shield J2 Pin 1 Length 5 m Text printed on green tube Pin1 Brown White Pin1 Brown White Pin 2 Blue White Pin 2 Brown Alternative colors exist ESS 5 Alternative colors exist Please see table below Sedi V Please see table below Pin 3 Brown Pin 3 Blue White Pin 4 Blue Cable data Twisted with screen SFTP 24AWGx2 AEB Pin 6 Blue Housing Housing Please notice 2 versions of the cable type exist Type 1 This is the standard cable normally stocked Type 2 This is the alternative cable normally not stocked Color Type 1 standard Color Type 2 Alt Signal name Pin 1 Pin no 2 gg L Twisted pair Blue White Green White Twisted pair X W E Blokken 42 DK 3460 Birker d I van C Tel 45 4582 4440 M12 shl cable 4 pin male 5m Approved Drawn by Fax 45 4582 5550 Ethernet D Coded RJ45 BVJ PCR BVJ e LT0179 12 26 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 2 4 Cable accessories 2 4 5 Drawing RS232 M12 1 5 8 Cable that connects the RS232 from M 12 to DSUB connectors RS232 communication cable for MAC expansion modules DSUB Connector M12 8 pin male connector Female 9pin Cable Black PVC
80. 8000 3 5 6 Operation modes Changing operation mode A change of operation mode is only possible when the operation mode is not enabled There are two exceptions and one is when changing from homing mode to profile posi tion mode This is possible when the homing sequence is completed and can be done even though the operation mode is enabled The other exception is when changing from profile position mode into velocity mode JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 53 3 9 54 CiA DSP 402 drive profile Profile position mode This mode can be used for positioning where a movement profile can be set up The acceleration and maximum velocity can be programmed In this mode both absolute and relative moves are supported The type of move is se lected via bit 6 abs rel in the status word When a relative move is selected the type of relative move is dependent on the setup in object 201 Ih sub index 6 It is also possible to select different movement modes This is done using bit 5 change set immediately in the status word When this bit is 0 and a move is in progress the new set point is accepted But the new set point and profile are not activated before the pre vious movement is finished When this bit is I the new set point is activated instantly and the motor will move to the new position with the new profile parameters Please note The torque limit that is used during the pr
81. AC motors 15 5 7 Examples 5 7 4 Homing using only cyclic 1 0 JVL profile When doing homing Zero search with only cyclic I O some preconditions have to be met Zero search position zero search velocity and zero search torque torque only for MAC motors has to be set in MacTalk in the Main tab and saved in flash in the motor once and for all VA Mac Talk Noname File View Motor Setup Updates Help MacTalk Version 1 50 57 5 3 Ga Save in flash Reset position Gear errors Resetmotor Filter setup STOP Motor COM s 57 handling Max Follow emars Function amas Position limit min C Analogue velocity Position limit max Analogue velocity with deadband Analogue velociy gea Eno acceleralinn C Melacitu analague torque i T Inputs Qutputs ME ISLE iE iret Output 1 01 Anal LT Col roc D lever Output 2 02 C Analogue biposition 101 User cortrolled C Analogue lo position 102 User cortsolled dala 0 Tye velocity mj Acceleration un Load 1 0000 Zero search position Zero search welocily 7 Motion parameters Position 9900000 x Counks In position window 100 Samples 11308368 RZ Undervoltage gt Set error bit Gein passive Min voltage Startup mode should be set to position for the motor to stay in position after the homing sequenc
82. ACOO0 ECx EtherCAT v3 22 Connected Procedure in the PLC e Treat the transmitted Register 2 as Requested Mode and the received register 2 as Actual Mode When homing is wanted set the Requested Mode to one of the values 12 13 or 14 depending of the requested homing mode 12 Torque based zero search mode only MAC motors 13 Forward only zero search mode 4 For ward backward zero search mode only MAC motors For a comprehensive description of the homing modes refer to the general MAC motor manual LB0047 xxGB e Observe that the Actual Mode is changing to the homing mode Now the module is blocking cyclic writes TO the motor Cyclic reads is still active e 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 expansion modules for MAC motors 141 6 5 Examples 6 5 5 Relative positioning There are number of ways to do relative positioning but the one explained here is very simple and can be used with constant distance or exchangeable distance to move eve ry time it is requested Preconditions Place the module command register register 983040 in MacTalk in the cyclic write list The cyclic setup could for example look like this ik Noname
83. C motors 6 3 PROFINET objects 6 3 3 Parameter objects The parameter objects provide access to all module registers and all motor registers as well as a module command object The objects in the list can be accessed with acyclic services Accessing parameter objects page 135 Object Sub Type Read Description hex Object only Module Module command object See possi Module High 16 bit of MAC address placed pwweeNes X tow 2 bit of MAC address IP address Node ID The least sig UNSIGNEDS2 X __ i UNSIGNED32 X Omemy gt 6 Sewbts NE NE UNSIGNED32 O Digital outputs on module UNSIGNED32 Reserved for future use UNSIGNED32 Command register 7 Register to place in TXPDO 21 Register to place in TXPDO 21 Register no to place in TXPDO 21 21 22 3 p ps po LI 9 Buntes Le memes pen UNSGNEDS2 Besewdfaituewe pop E CEN To JG N Reserved for future use Reserved for future use Register no to place in RxPDO 21 position 1 Register no to place in RxPDO 21 position 2 Register no to place in RxPDO 21 Register no to place in RxPDO 21 Register no to place in RxPDO 21 fa gt UNSeNEDx resewedforfaureuse fy 30 UNsGNED2 Resevedfordweus fy ar unsienebee Resewedforfuureuse 3 unsienebee X
84. E EENS j Mee Favorites Scope Wu WE Show E d v Name _ csie Description SS ME 200000 Decimal T Variabel that holds result from explicit msg Hdtem Decimal DINT used in msg3 set error diT emp I P T NN NN T NN 7 NNNM 77777 does dl 0 e3 ABEmbedded IQ feel ABEmbedded D EE se AB Embedded 0 ea s ee E Decimal x Used in msg2 more mode 12 velocity 2 position EM es MESSAGE fem to dt MESSAGE E MESSAGE o RC Triggers explicit msg2 set mode E Triggers explicit msg3 set error diT emp i Triggers explicit msg get actual position 0 BODL Not Used zs Est cap o h AB ETHERNET Read words see MacTalk L EsewnD Read words see MacTalk si HServo lA Read words see MacT alk Decimal Read words see MacT alk Decimal Read words see MacT all EET X Head words see MacT alk me og Read words see MacT al Ese 10 uc N Write words see MacT ak Hu d jte words see MacTalk g words see MacT all Decimal write Nords see MacTalk Decimal Write woNls see alk Write MacTalk Write words alk Tt3027GB Write assembly Read assem
85. E SN 33022 00 50 C2 DO C0 7A TT3042GB Introduction to EtherNet IP The JVL MACOO EI module makes communication using EtherNet IP possible with the JVL motor The Ethernet technology gives the advantages of fast data access using stand ard off the shelf hardware which again has the advantage of large accessibility and low prices 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 The JVL EtherNet IP implementation supports both explicit messaging and I O messages with up to 5 free configurable input and output words With a basic knowledge of the JVL motor operation through the register structure and a basic knowledge of the EtherNet IP technology a motor can be setup and controlled in a very short time without first doing extensive studies in complex motion control stand ards e t c EtherNet IP is basically divided in 2 groups of data explicit and I O messages in other words messages requiring fast data response time and data not so time critical typically used for configuration purposes In the EtherNet IP terminology these messages are also called Explicit messages not time critical none cyclic exchanged and I O messages time critical cyclic exchanged In the motion control world time critical data would be actual position actual status and actual speed and actual torque where data not time critical would be such
86. ENZF 1756 10 100 Mbps Ethernet Bridge Fiber Media Allen Bradley ic 1756 ENZT 1756 10 100 Mbps Ethernet Bridge Twisted Pair Media Allen Bradley 1756 ENSTR 1756 10 100 Mbps Ethernet Bridge 2 Port Twisted Pair Allen Bradley i 1756 ENBF 4 1756 10 100 Mbps Ethernet Bridge Fiber Media Allen Bradley 1756 ENBT 1756 10 100 Mbps Ethernet Bridge Twisted Pair Media Allen Bradley 1 7556 EMET A 1756 Ethernet Communication Interface Allen Bradley 1756 ENET B 1756 Ethernet Communication Interface Allen Bradley i Find Add Favorite 4 4 Commissioning Find and select the Generic Ethernet module im Select Module Description 1788 EWEBJNA 1788 10 100 Mbps Ethernet Bridge wJEnhanced Web Serw Allen Bradlev al i 1794 AENF A 1794 10 100 Mbps Ethernet Adapter Fiber Media Allen Bradley i 1794 AENT 1794 10 100 Mbps Ethernet Adapter Twisted Pair Media Allen Bradlev m Drivelogix5730 Eth 10 100 Mbps Ethernet Port an DriveLogix5730 Allen Bradley ETHERMET BRIDGE Generic Etherket IF CIP Bridge Allen Bradley M ETHERNET MODULE Generic Ethernet Module Allen Bradley a EtherNet TP SoftLogix5800 EEherMet TP Allen Bradley Am PSSCENA Ethernet Adapter Twisted Pair Media Parker Hannif Stratix 8000 26 Port Managed Switch Allen Bradley m Stratix S000 22 Port Managed Switch Allen Bradley i Stratix 8000 18 Port Managed Switch Allen Bradley a Stratix S000 14
87. Fatal error PWR Power is not applied Power is applied Power is to both motor and applied to module but no communication with motor Notes Flickering Rapid flashing with a period of approx 50ms 10Hz 146 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 7 2 7 2 2 7 2 3 7 2 4 Commissioning Mechanical installation The network cables must be connected to the two 12 connectors marked L A IN and or L A OUT on the module The cable from the IO CONTROLLER is connected to either of the two ports In the line topology if there are more slave devices in the same line the next slave device is connected to the second port Standard CAT 5 STP cables can be used It is not recommended to use UTP cables in industrial environments which is typically very noisy Network configuration To enable communication through the Ethernet network the module needs a valid IP address This is done by MacTalk Communication description Connect to Modbus TCP module by opening a TCP client connection to the module IP address on port 502 It s possibly to have only one open connection at a time The registers in the motor and in the module are all 32 bit To comply with the clean 16 bit Modbus standard a 32 bit register must be read or written as two consecutive 16 bit registers The register address mapping follows the normal documented register num bers but the address field mu
88. G _ O HO i feit T 0 2 2 J12 V IST Actual velocity B pes vo E ERR STAT Default registers in receive PDO 21 Master Slave S o o B __ 7 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 In those situations it is necessary to interpret them as l6 bit to get the sign correct 104 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 5 4 Ethernet POWERLINK objects 5 4 2 Minimum cycle time The minimum cycle time is the minimum amount of time between each cyclic request PDO on the Ethernet If operating with values lower than those listed data loss will occur No of motor registers transmitted Motor series Motor series in each direction MAC050 MAC141 MAC400 to MAC3000 3608 22 a 55 The minimum cycle times is only valid if not sending any SDO requests while in any operating mode MODULE registers can be appended as the last registers in the list at no extra timing cost 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 MACI4I and with 30us if MAC400 MAC3000 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 105 5 4 Ethernet POWERLINK objects 5 4 3 Service Data Objects Service Data Objects
89. ITUDE not Na Word used with motor current loop present 0 R 175 MAN I NOM not Na Word used with motor current loop present 0 RW 176 MAN ALPHA not Na Word used with motor current loop present 0 RW 177 UMEAS not Na Word used with motor current loop present 0 R NOM ei GE used with motor current loop present 0 R PHI SOLL IRAN SEN used with motor current loop present 0 R 180 IA SOLL not Na Word used with motor current loop present 0 R 181 IB SOLL not Na Word used with motor current loop present 0 R 182 IG SOLL not Na Word lt used with motor current loop gt present 0 R 51 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 197 2 Motor registers MAC400 3000 Firmware MacTalk Range Size Description MacReglo Name Name Default Access 183 IA IST not Na Word lt used with motor current loop gt present 0 R 184 IB IST not Na Word lt used with motor current loop gt present 0 R 185 IC IST not Na Word lt used with motor current loop gt present 0 R 186 IA OFFSET not Na Word lt used with motor current loop gt present 0 R 187 IB OFFSET not Na Word lt used with motor current loop gt present 0 R 188 KIA not Na Word lt used with motor current loop gt present 0 R 189 KIB not Na Word lt used with motor current loop gt present 0 R 190
90. JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 2 I 2 3 Connector description Expansion module MAC00 Ex4 I front plate Extended I O connections L A IN EN PWR Primary Ethernet Power supply channel N E M12 5pin male M12 4pin female D NN 1 Js connector including Ethernet coded Wee v P4 primary supply and CVI D coded AV JE secondary supply and P L A OUT INC Secondary Ethernet Yo I O channel Fr I O s 5232 interface 12 4pin female V M 12 17pin female Ethernet coded DE dii 1 5 connector includes D coded Ay 4 digital inputs and 2 digital Used when module outputs 2 analogue inputs is daisy chained TT3087 01GB 2 RS485 multifunction channels 2 3 2 Expansion module MACOO Ex41 extended 10 connector description The MACOO Ex41 offers IP65 protection and MI 2 connectors which makes it ideal for automation applications where no additional protection is desired The M 2 connectors offer solid mechanical protection and are easy to unplug The connector layout PWR Power input M12 5pin male connector Main supply Connect with pin 2 P When installed in MACO50 to 141 12 48VDC When installed in MAC400 3000 18 30VDC JVL Cable WI1000 Isolation M12F5TO5N group Main supply ground Connect with pin 5 Control supply nominal 12 48VDC DO NOT connect gt 50V to this te
91. JVL motor must be add ed to the Ethernet bus system in the project a Controller ContrallerMame Controller Tags M Controller Fault Handler fi Power Up Handler 1 3 Tasks ERAS MainTask pr E MainProgram L 29 Unscheduled Programs B E Motion Groups 09 Ungrouped Axes ig Add On Instructions H Data Types 0 Lg User Defined EE Strings Lg Add on DeFined mE Predefined HLR Module Defined Bug Trends 9 83 Configuration E ES Compactloqix5323E QB1 System bee id 1769 L23E 0B61 CantrallerMame E 1769 L23E 0B1 Ethernet Port LacalEMB pen Au EB Compac Mew Module HE Emb paste 21 OB16 Discrete Outnuts Select New Module and the following screen appears Expand the Communications list This is done by right clicking the Ethernet Module icon in the project manager as illus trated below O select Module 3 X vendor E Communications 1756 EWEB A By Category JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 1756 10 100 Mbps Ethernet Bridge w Enhanced Web Serv Allen Bradley hdl Favorites i 1754 AENT 1734 Ethernet Adapter Twisted Pair Media Allen Bradley 1 734 AENTR 1734 Ethernet Adapter 2 Port Twisted Pair Media Allen Bradley b 1 738 AENT 1738 Ethernet Adapter Twisted Pair Media Allen Bradley s 1738 AENTR 1738 Ethernet Adapter 2 Port Twisted Pair Media Allen Bradley i 1756
92. M12 5pin male M 12 4pin female N connector including Ethernet coded i Ng P primary supply and CVI D coded 4 ED JP secondary supply and P L A OUT L A Secondary Ethernet VP DSG I O channel R Ni I O s and RS232 interface 12 4pin female GJ M 12 8pin female Ethernet coded UP di 54 33022 connector including D coded eum 00500 MEE 1 digital input and 1 digital Used when module output 1 analogue input is daisy chained TT3002GB 2 3 1 Expansion module MACOO Ex4 basis version connector description The MACOO Ex4 offers IP65 protection and 2 connectors which makes it ideal for au tomation applications where no additional protection is desired The M12 connectors of fer solid mechanical protection and are easy to unplug The connector layout PWR Power input M12 5pin male connector Main supply Connect with pin 2 P When installed in MACO50 to 141 12 48VDC When installed in MAC400 3000 18 30VDC JVL Cable WI1000 Isolation M12F5TO5N group Main supply ground Connect with pin 5 CVI Control supply nominal 12 48VDC DO NOT connect gt 50V to this terminal Main supply ground Connect with pin 3 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 pa
93. MAC400 with a MAC00 Ex4 module up using the MacTalk win Central dows software from a PC or EU Power supply from any kind of controller us for exams PG to ing 232 interface Opto isolation When connecting the RS232 interface to PC or control ler the following rules must Screen connected to GND in each end be followed MAC400 Motor Only one motor can be with MACOO Ex4 connected at the interface line RS232 2 Use screened cable T Interface Max 32VDC 3 Ensure that GND interface Power p ground is also connected Sun 4 Ensure that all units have a proper connection to safety ground earth in order to refer to the same potential 5 The RS232 interface cable length should not exceed 10 metres Opto isolation is recommended if connection is permanent T13013GB Connectors To see the specific connector pin out please see the chapter Expansion module MACOO Ex4 basis version connector description page 20 or Expansion module MACOO Ex41 ex tended IO connector description page 22 A finished RS232 cable also exist Please see Cables for the MACOO Ex4 basic version page 24 or Cables for the MACOO Ex4 I extended I O version page 25 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 19 2 3 Connector description Expansion module MACOO Ex4 front plate L A IN Primary Ethernet EE Power supply channel N MNR N
94. MACOO EC4 EC41 4 41 MACOO EL4 EL41 MACOO EP4 EP41 amp MACOO EM4 EM41 Industrial Ethernet expansion modules for MAG Servo Motors User Manual R EtherNe 23 22 e 2 18 NIEITT B EtherCAT ETHERNET 3 HI POWERLINK JVL Industri Elektronik A S LB0056 18GB Revised 13 11 2013 Important User Information AN Warning N The M AC series of products are used to control electrical and mechanical components of motion control systems You should test your motion system for safety under all potential conditions Failure to do so can result in damage to equipment and or serious injury to personnel 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 2013 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 JVL Industri Elektronik A S reserves the right to make changes to informa tion contained in this manual without prior notice Similarly JVL Industri Elektronik A S assumes no liability for printing errors or other omissions or discrepancies in this user manual MacTalk and MotoWare are registered trademarks JVL Industri Elektronik A S Blokken 42 DK 3460 Birkered Denmark Tlf 45 45 82 44 40 Fax 45 45 82 55 50 e mail jviI jvl d
95. MACOO P5 found I O 106 MACOO 1 Na Word The registers from 106 to 120 are used to support different 0 RW interface modules with the Generation 2 connectors The function of these registers will be different depending on which module is mounted in the motor The Gen 2 module type is detected automatically by the motor at start up Reg106 Digital inputs is a bitmapped value where bits 15 8 show the status of hardware signals in the basic motor as described below while bits 7 0 show the status of the digital inputs from the MACOO B41 module Be aware that bits 15 0 in Reg215 IO POLARITY can be set to invert the value of the corresponding bits 15 0 in this register Bits 15 12 show the values of the four RS 422 signals These are intended mostly for serial communications to some modules or to use Modbus RS485 but they can be used as digital inputs provided that the input voltage is kept within 7 to 12 volts These are differential signals so to use them as single ended inputs one of the differential lines must be kept at a constant voltage in between the high and low thresholds for the single ended line At the time of this writing bits 15 12 are supported on MAC400 but not yet on MAC800 Bit 15 Multifunction 1 channel B Bit 14 Multifunction 1 channel A Bit 13 Multifunction 2 channel B Bit 12 Multifunction 2 channel A Bits 10 8 show the status of the analogue inputs ANINP2 ANINP1 and ANINP Status will be h
96. NMT is node oriented and follows master slave relationship MACOO ELx is administered as an NMT slave by the master Ethernet POWERLINK defines five categories of NMT services NMT State Command Services NMT Managing Command Services not supported NMT Response Services NMT Info Services not supported NMT Guard Services not supported NMT State Command Services The MN controls the state of the CN via NMT State Command Services See section Ethernet POWERLINK state machine for more information NMT Response Services NMT Response Services are used by the MN to query NMT information from the CN such as current state error and setup data Ethernet POWERLINK specifies the follow ing NMT Response Services NMT State Response IdentResponse StatusResponse Via State Response service the CNs signals their states to the MN IdentResponse Service is used by the MN to identify configured but unrecognized CNs at system start up or after loss of communication See Appendix IdentResponse Frame for more infor mation The StatusResponse Service is used by the MN to query the current status of CNs that is not communicating isochronously It is used for error signaling in runtime If an error occurs the 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 Man
97. P pp 45 A REG Pe 46 TLREGP J S 47 LREGP p 48 ZREGP J J 49 POSO P1 32bt 50 j h wodofP1 J 51 X POS P2 32bt 52 j h wodofP2 J S 58 X POS2 P3 32bit pf 54 j h wodofP3 J 55 POSS P4 32bt 56 j h wodofP4 j S osaset ooo HH bit COll_POS_ACCEFT POS P6 E bit 4 COIL PWR F 80 word o Pe I d1L 4 61 POSe P7Z32bt pp gt 62 hiwordofP7 S o 63 POS7 P8 32bt J o 64 j h wordofP8 65 VELO VI 6 67 VEL2 V3 _____ 68 pp 69 VELA VS 70 PP 1 _ PP 72 VEL7 V8 78 ACCO AT 74 ACCH A2 pp 75 X ACC2 A3 76 ACCS AA pp gt vm TQO Th pp TAT pp 79 TQ2 T3 pp 80 10814 pp o Bit 0 COIL START DIR Bit 1 COIL POS CMD Bit 2 COIL PWR CMD UT N D ov JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 7 9 2 Motor registers MAC050 141 t icone ee mm _ MacReglo Name Name Default Access 81 LOADOU L GR EE SEE LOAD2 L3 qo soo 84 LOAD3 L4 joo ooo o 85 ZERO0 Z1 PP 86 zERO1 Z2 pp i87 2ERO2 28 88 ZEROS 24 pp pp 89 KFF8 pp gt 9o KFA CNEM RENNES S 92 KFFO J Jj
98. Port Managed Switch Allen Bradley Stratix 8000 10 Port Managed Switch Allen Bradley d Find Add Favorite By Category ByVendor Favorites 7 TT3048 01GB Now the module parameter needs to be entered Fill in the information as illustrated below New Module EET _ Type ETHERNET MODULE Genene Ethernet Module Vendor Allen Bradley Parent LocalEME Connection Parameters Name Servo Description xs Comm Format Data DIKT Address Host Name PAddress 169 254 214 249 C Host Name Assembly Instance Size Configuration 0 E 8 bit Status Status Output f Open Module Properties Cancel Help TT3049 01GB Input o ge Output 100 32bit 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 this link http www jvl dk JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors A demonstration video showing how to set up the system can be seen using 79 4 5 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 Ethern
99. R 16 Synchronize position manually using relative new values basically offset the position range with the value of P NEW 0x8000 00F8 2147483896 P IST IST P NEW Same as P P SOLL P NEW P FUNC P FUNC P NEW 16 0x800000F9 2147483897 No operation lt lt J Sameas 0x800000FA 2147483898 No operation 0x800000FB 2147483899 No operation 0x800000FC 2147483900 No operation Sameas 0x800000FD 2147483901 Reserved _ Sammes 0x800000FE 2147483902 Reserved Samoas 0x800000FF 2147483903 Reserved Samoas 44 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 3 4 3 4 9 3 4 10 3 4 11 EtherCAT objects Object Ox201 1 The module registers is mapped to object 0x201 The subindex 3 31 is RW the rest is read only Object 0x2011 Subindex 1 5 Reserved for future use Object 0x2011 Subindex 6 Setup bits This register is used to setup the module configuration and how the module should react on different events Bi 731 Output S oc 8 Eon reg Clear Disable Ethernet registers isters relative drive Name of han error han profile station dling dling Ethernet error handling 0 Set motor to passive mode when error occurs Set velocity to 0 when error occurs active b
100. R INDEX ERR OLDFILTER U24V ERR At least one of these bits will be set when PWM LOCKED is set Bit 21 COMM ERR Communications error master or slave timeout with Modbus Gear mode Bit 22 CURLOOP ERR Less than 2 mA was detected on the 4 20 mA input on the MACOO P4 P5 module for more than 100 ms Bit 23 SLAVE ERR One or more error bits were set in an ERR STAT reading from the Modbus slave or COMM ERR Bit 24 ANY ERR single bit ERR STAT and ALL ERROR BITS 0 TIL503GE JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 187 3 Motor registers MAC400 3000 Firmware MacTalk Range Size Description MacReglo Name Default Access Name intention is then to wait for a FastMac command 16 96 It is 36 CNTRL BITS not Na Word Bit 0 RECORDBIT present 32 RW Bit 1 REWINDBIT Bit 2 RECINNERBIT Bit 3 RELPOSPSOLL Bit 4 RELPOSPFNC Bit 5 SYNCPOSAUTO Bit 6 SYNCPOSMAN Bit 7 MAN NO BRAKE Bit 8 SYNCPOSREL Bit 9 INDEX HOME Bit10 FWTRIGBITS When set use the advanced sampling with firmware trigger conditions when 0 use backwards compatible sampling Bit 11 SAMPLING BIT Set when sampling is active after trigger has been detected Bit 12 TRIGGER ARMED BIT Set when sampling is active but trigger has not been detected yet Bit 13 ADVSAMPLE BIT If set enables div shift min max avg bitfield sampling RW also possible to simply write a new value to Reg2 RW Bits 31 16
101. Read Word 5 35 Error status Read Word 6 0 No Selection Status Motor status Actual mode Position Actual velocity 116 Actual position 8962210 Follow error Function error Actual motor torque Motor load mean Regenerative load Inputs 4 44 44141 4 Supply voltage Analogue input Errors Motor set Passive mode Read Word 7 0 No Selection Read Word 8 0 No Selection C Write Word 1 2 Operating mode Write Word Hequested postiar 0 Poll division 0 Write Word 3 5 Velocity Motor set velocity 0 Protocol settings Station alias Write Word 4 6 Acceleration Write Word 5 0 No Selection Write Word B 0 No Selection Write Word 7 0 No Selection Write Word 8 0 No Selection _ Status ModbusTEP timeout 100 ms Enable DSP402 drive profile Status ydeismmig Firmware Version V3 22 Build 470 Hardware Version V 2 00 MAC 00 50 C2 DO FF FF Serialnumber 11111 Clear Log Apply and save TT30856B MAC140 Version 9 01 5N 86855 MACOO0 ECx EtherCAT v3 22 Connected Procedure in the PLC e Treat the transmitted Register 2 as Requested Mode and the received register 2 as Actual Mode When homing is wanted set the Requested Mode to one of the values 12 13 or 14 depending of the requested homing mode 12 Torque based zero search mode only MAC motors
102. SOLL register 6 In this mode the position is controlled by applying a requested position to the P SOLL register and the actual position is monitored in the P IST register The V SOLL and A SOLL registers sets the velocity and acceleration used when positioning occurs For easy setup we can use a single poll setup for the registers 10 12 16 and 20 and an other for register 35 see figure below but it also is possibly to setup one poll instance for every single register Modbus Poll Mbpoll2 mbp iol gt File Edit Connection Setup Functions Display View Window Help DMS 5 05 06 15 16 17 22 23 TCP xf oxi x 262 Err 0 ID 1 F 03 SR 1000ms x 304 Err 0 ID 1 F 03 SR 1000ms Reg 10 low 0 0000 Ox01F4 EC PUE T 0 0000 Reg 35 PT oxocoo Reg 10 high 0 0000 0x0000 1811 0x0000 f 0x0100 0 0000 Reg 16 low 0 062 0 0000 16 high 0 0000 Reg 12 low 0 0000 OxEA60 0x0000 Ox0000 0 0001 0x0000 0x07D0 0x0912 1 2 3 4 5 Reg 12 high Ox0000 Ox0000 6 7 8 9 0x0000 Ox0000 For Help press F1 TT3067 01GB8 192 168 0 59 502 A Calculate the values needed for velocity and acceleration and send to the motor see pre vious example 160 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 7 4 Examples Now set the motor into position mode and thereby activate the motor Ex The motor needs to be activated by setting it int
103. TIN ke medie J9N 49034 Sia V 7 Nom d di Xd a nano LNO VA 4032euuo2 SES OD e ejJeau 39N49433 NI V Tss O 9 0U 995 sindino cz 1 30 335 ACTE 8c s BLOA syndjno pue syndu jeusiq Oll B Q 2 S UOIJOWJOJUI 40 3A1 03U2824d21 JAF ANOA 1302 UO 2 QD IDAD SJDUBIS IY 49p40 S10222UUOO 43420 YIM 00 430 10 m c y appui UDI WOJSN 3JQLJIAD A DU493UI 240 SJDUBIS 3524 320N d AbT 008 00FO VIA A ddns Jamod px3 000VIAI UMd euoz uone os 13470 ue diueAjeb OP UONEJOS pT TT JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 10 General Hardware description JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 2 1 2 1 1 2 1 2 12 Module types Module types The MacMotor Ethernet modules are available for several Ethernet protocols The module used for each protocol has its own unique type number but is based on the exactly same hardware neutral module where no protocol is installed however also exist Neutral module no protocol installed MACOO Ex4 Ex4 is a neutral module not setup up for any particular
104. The value written here by the user or by the firmware will BT be output to the 4 20 mA hardware output on the MACOO P5 P4 modules 4 ANOUT1 OFFSET not Na Word Offset that is added to ANOUT1 before writing to RR GE Fc Z esen RW encoders 226 P_MULTITURN not Na Word The full multi turn position read directly from the absolute present 0 RW encoder if mounted 227 AIFILT MAXSLOPE not Na Word present 0 RW 228 AIFILT FILTFACT not hs Word RW 229 P_QUICK P wo NI actual position of the internal encoder Much like 7 but updated every 100us P IST is updated only once every 1 3ms or 2 6 ms for OUTLOOPDIV 2 230 XREG ADDR not a Address of extended registers XREGs present RW positive value will write the contents of Reg231 XREG DATA to that register negative value will cause the value of that XREG to be writen to XREG DATA After the reading or writing operation has completed XREG ADDR will be set to zero The first NN XREGs are used for configuration of the switchboard for hardware signals that can be routed in several ways through the FPGA in MAC800 HW 1 8 and later or MAC400 HW1 And later XREG DATA not Word Data to or from extended registers See XREG_ADDR for present RW description TIL516GE 200 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 10 Index A 18 Air Cylinder mode 18
105. UDP 100 MBit Ethernet on twisted pairs Communication in which messages are sent once per request Communication in which process data are sent cyclically at pre defined intervals Device Access Point Discovery and Configuration Protocol General Station Description Device description file in a speci fied form Each device active amp passive stations on PROFINET has to have its own GSD File GSD files in PROFINET are writ ten in GSDML General Station Description Markup Language isa XML based language used for the device description file Control system with bus initiative In PROFINET IO terminol ogy IO controllers are also called master stations IO Provider State state of the provider of cyclic IO data IO Consumer State state of the consumer of cyclic IO data Internet Protocol IP address the logical address of the de vice which is user configurable Media Access Controller MAC address the hardware ad dress of the device 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 expansion modules for MAC motors 121 6 2 Commissioning 6 2 1 Indicator description The LED s are used for indicating states and faults of module There is one power LED two link activity LED s one for each Ethernet connector and 2 status LED s Indicator a
106. UL 24 AWG 8 core screened 6 0 2mm 5 metre Cable Finger screws 2 pcs Pin no Pin no 1 3 Green Gre E EE i Blue Blue 222 Housing J1 The wires White Grey Pink Blue and Red are not connected and must be insulated LTO082 11 J2 Pin 1 4 6 7 8 9 must be left open JVL Industri Elektronik A S mm UU Industri Elektronik A S Arn ds 2 1 5 8 Version Version 1 1 Date 27 9 06 Tel 45 4582 4440 cable Approved by Drawn by Ei Fax 45 4582 5550 M 2 to DSUB BVJ 1 1 1 1 JVJ JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 27 28 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 3 MACOO EC4 EC41 EtherCAT module JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 29 3 1 3 1 1 30 Introduction to EtherCAT Expansion module MAC00 EC4 front plate Vik F B c PF SN 83022 00 50 C2 D0 CO 7A TT3041GB Intro to EtherCAT EtherCAT is a Real Time Ethernet technology which aims to maximize the use of the 100 Mbit full duplex Ethernet bandwidth It overcomes the overhead normally associat ed with Ethernet by employing on the fly processing hardware An EtherCAT net consists of a master system and up to 65535 slave devices connect ed together with standard Ethernet cabling Th
107. Ward 5 6 Acceleration The requested acceleration is set in the 5 word The requested velocity is set in the 3 word 113016GB With the settings illustrated above we initiate the velocity mode by writing Ox to the first word value this is velocity mode From the scanner the registers is accessed using the assembly object and accessing the registers R W on words 1 5 Set the needed velocity V SOLL V x 2 77 rpm Ex We need the motor to run with a constant speed of 1200 RPM So V SOLL 1200 2 77 433 counts sample 2 Set the needed acceleration A SOLL Ax 271 RPM s Ex We need the motor to accelerate with 100000 RPM s so A SOLL 100000 271 369 counts sample 3 Now set the motor into velocity mode and thereby activate the motor Ex The motor needs to be activated by setting it into velocity mode so we need to set the mode register to the value Mode which is velocity mode now the mo tor will use the acceleration and the velocity just configured Please find a complete list of register descriptions in the appendix Motor registers MAC050 141 page 175 and Motor registers MAC400 3000 page 184 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 8l 4 5 Implementation guidelines 4 5 3 Running Position control Running the motor in position control requires that the mode register is set for position control The following registers is of particular interest when po
108. Word 1 3 Requested position White Word 2 5 Velocity White Word 3 6 Acceleration Write Word 4 7 Torque EthemetlP error handling ga Write Mord 5 0 No Selection fe Motor set Passive mode PLCIDLE setup _________ Motorset Passive mode Matar set velocity D Motor set velocity 0 Apply and save Firmware Version 41 80 Build 115 Hardware Version 1 00 MAC ansa Cz D CO BU Serialnumber The MAC address and other basic info is shown here TT3022GB After adjusting all settings press Apply and save for the settings to take effect and for permanently saving the setup Information such as EtherNet IP firmware version MAC address and module status is displayed in the Status field Notice that the MAC address is unique for each module and can not be changed 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 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 75 4 4 Commissioning Setting up IP addresses and general usage of the Rockwell CompactLogix PLC with the software package Logix5000 is beyond the scope of this example The following guideline is based on the JVL MAC400 motor with the factory setup Apply 24V open MacTalk and setup the ethernet settings as required and the IO as sembly cyclic data set
109. 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 Example Velocity mode 2 Position mode etc JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors Using MacTalk over Ethernet JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 163 8 1 Using MacTalk over Ethernet 8 1 1 164 Introduction The configuration software tool Mac Talk is able to connect to a motor either using a se rial connection or an Ethernet based TCP IP connection Please notice that there are some limitations precautions e Currently only the MACOO EPx PROFINET IO and the MACO00 Elx Ether netIP modules are supported PROFINET IO firmware version must be V 3 17 Build 425 or higher and EthernetlP V3 21 Build 425 or higher Make sure the motor has the latest firmware installed that is V2 05 for MAC400 3000 and V9 01 for MAC50 141 Ethernet connectivity is only supported in the MIS34x series of stepper motors For the MIS34x please use firmware V1 12 or greater All the firmwares required should be included in the install package for Mac Talk or by using the internet update feature in MacTalk Make sure that Mactalk is version 1 50 49 or newer e Atthe moment firmware update is still only possible using the standard serial connec tion The hardware required is the m
110. alue Write Word 5 D No Selection gl The resolution is 100 RPM 277 counts sample Acceleration requested acceleration Not used Any register can be inserted here 3 6 3 General considerations The register 35 in the motor holds information on the actual error status So it is crucial that this register is configured in the cyclic data and thereby obtained and monitored in the Master In case of an error situation the motor will stop and the cause will be present in the register 35 and hence in the I O data This register also holds information on the motion status such as n position bit 4 Accelerating bit 5 Decelerating bit 6 Please find a complete list of register descriptions in the appendix Motor registers MAC050 141 page 175 and Motor registers MAC400 3000 page 84 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 Example Velocity mode 2 Position mode etc So in order to Stop or Start the motor this register can be supported in the I O data or by sending an SDO message JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 57 3 6 Examples 3 6 4 Homing using only cyclic 1 0 JVL profile When doing a homing Zero search with only cyclic I O some preconditions have to be met Zero search position zero se
111. 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 in MacTalk and save the config uration in flash then the M ACOO EPx 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 assign ing the correct name when it finds a device without name 124 JVL Industri Elektronik A S User Manual Ethernet modules for MAC motors 6 2 Commissioning 6 2 7 Quick start guide This section describes the steps to configure the Siemens ET200S PLC and TIA Portal vl I software so it can be used to control the drive Set IP address Connect the RS232 communication cable 2 Apply power to the motor and make sure the PWR LED is lit 3 Open MacTalk and select the MACOO EP PROFINET tab 4 Change the IP address to one suitable for the network 5 Press Apply and save Installation 6 Connect an Ethernet RJ45 M2 cable to one of the interfaces on the ET 2008 and to L A IN or L A OUT on MACOO EPx 7 Connect power to the ET200S and Ethernet patch cable from the PC with Siemens TIA Portal vI I installed to the ET200S PLC 8 Make sure power is applied to all devices Add the GSD file contains info on the capabilities of the device 9 In the Options menu of TIA Portal VI I
112. and output see section 6 3 1 for setting up those with Mactalk There is also an example on the web page www jvl dk in the download section named JVL PN exl zip which can be downloaded and unzipped This example is made for MAC 140 but can easily be changed to work with MAC400 MAC3000 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 127 6 3 PROFINET objects 6 3 1 Process data Process Data PZD are used for cyclic transfer of time critical process data between master and slaves such as position velocity torque etc Transmit PZD are used to trans fer data from the slave to the master and receive 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 I sub index 16 31 It requires a save in flash and a power cycle before the new configuration are used If the configuration of the PZD is not altered by the user the JVL PROFINET module uses the default mapping shown in the tables below 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 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
113. andatory 24V supply for the motor and the Ethernet ca ble going either from an Ethernet switch or directly from the PC to the MI2 connector on the MACOO Exx module in the motor In order to establish the Ethernet connection from the PC where MacTalk is running to the motor the PC and the motor needs to be configured to run on the same network By default the motor is configured to run on the following IP address 192 168 0 XX at startup where XX refers to the last 2 digits in the MAC ID which is printed on a label So if a MAC ID has the value 00 50 C2 DO C9 03 then the IP address is set to 192 168 0 3 The PC from where MacTalk is used needs to be configured for this range The in depth PC configuration is beyond the scope of this manual since this greatly de pends on the networks equipment end network connected However a brief description on how to configure the IP address manually is discussed This method is necessary if the motor is connected directly to the Ethernet port in the PC or if the network isn t capable of assigning IP addresses to connected equipment automatically JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 8 2 Setting up the Ethernet at the 8 2 1 Setting up the Ethernet at the When connection is made directly from the PC it is very important to observe the IP settings of the PC since the most common way is for the PC to receive the settings from a ser
114. arch velocity and zero search torque torque only for MAC motors has to be set in MacTalk in the Main tab and saved in flash in the motor once and for all Mac Talk Noname File View Motor Setup Updates Help MacTalk Version 1 50 57 5 3 Ga Save in flash Reset position Gear errors Resetmotor Filter setup STOP Motor COM s 57 handling Max Follow emars Function amas Position limit min C Analogue velocity Position limit max Analogue velocity with deadband Analogue velociy gea Eno acceleralinn C Melacitu analague torque i T Inputs Qutputs ME ISLE iE iret Output 1 01 Anal LT Col roc D lever Output 2 02 C Analogue biposition 101 User cortrolled C Analogue lo position 102 User cortsolled S e velocity mj Acceleration un Tongue Load 1 0000 Zero search position Zero search welocily 7 Motion parameters Position 9900000 x Counks In position window 100 Samples 11308368 RZ Undervoltage gt Set error bit Gein passive Min voltage 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 NY MacTalk Noname Ele View Motor Setup Updates Help MacTalk Version 1 50 57 G b 9 5 Save in flash Reset position Clear errors Reset m Main Registers Advanced Filter parameters Tests Scope
115. arded frames ret ee Tee 4 UNsGNEDx X Digital inputs on module pf 4 UNSGNED X aL C UE Motor Ecco Ne O UNSIGNED32 L Access to the motor parameter n 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 expansion modules for MAC motors 107 5 4 Ethernet POWERLINK objects 5 4 6 Object Ox2010 Subindex This object is used for sending commands to the module and is write only The possible commands are listed in the table below Command description Hex Dec MACO50 MAC141 MAC400 MAC3000 Module only commands 0000 00000 Noopsalon Same 0 0000 0001 Reset the module Ox 0000 0010 Save module parameters to flash Synchronized commands EE ONEN S i ere Motor only normal commands via module cmd register Save bara nash adres ya sae a Motor only FastMac commands via module cmd register 0x800000E0 2147483872 No operation p Sameas 0x8000 00E1 2147483873 Reset error Clear error bits in motor register 36 Sameas 0x800000E2 2147483874 P SOL 0 Sameas 0x800000E3 2147483875 P ST 0 Sameas 08000 00 4 2147488876 PFNOC 0 Sameas 0x800000ES 2147483877
116. are reserved Bits 15 8 are used to select the type of zero search to perform when the FastMac command 16 96 is received This should be one of 12 13 14 or zero Bits 7 0 select the value to transfer to Reg2 MODE REG at motor power up and after a zero search has completed If bits 15 8 are non zero the motor will remain in Passive mode at power up regardless of the value in bits 7 0 The 37 START MODE not Na Word Determines in what mode the motor should start after power present 0 but is preset as function of the mode register MODE REG to change mode 8 on and after a Zero Search P HOME Zero Na Word Encoder The offset value to use to adjust IST at the end of a Zero search 10000 counts Search position This register works closely together with Reg2 MODE REG 39 HW SETUP not Na Word Bit 0 DIRAWR present 9 RW Bit 1 DIRBWR Bit 2 PULSEOUT Bit 3 XSEL1 Bit 4 XPRINP Pulse Direction or Quadrature input type Bit 5 NOFILT Disable lowpass filtering of external encoder pulses Bit 6 INVXDIR Bit 7 INVROTDIR Bit 8 USER INPOS Bit 9 USER ERROR Error output pin is controlled by the user via RegXX Bit 10 INV INPOS OUT Bit 11 INV ERROR OUT Bit 12 ERROR OUT If set OUT2 PIN is controlled by P IST gt CMP POSO continued next page TIL504GB 3 188 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 9 3 Motor registers MAC400
117. ared with most of the classic non Ether net based protocols the indstrial Ethernet offers state of the art performance The MACOO Ex4 Ex4 Industrial Ethernet mod ule can be configured by the end user to a number of different Ethernet protocols for instance EtherCAT 9 EtherNet PQ Ethernet POWERLINK e PROFINET 108 e Modbus TCP IP And more to come Main Features e High speed communication I00Mbits sec 2 individual ports on the module offers Daisy chaining possibility e Standard M12 circular industrial connectors e MACOO Ex4 I Digital input 24V and I dig ital output 24V for local use around the motor e MACOO Ex41 4 Digital input 24V and 2 digital outputs 24V for local use around the motor e Multiple alternative I O possibilities available on request OEM applications LED s for easy monitoring of operation sta tus e Optional encoder I O Rough design Access to all internal motor parameters and registers possible No need of pre setup of the motor RS232 connection available for monitoring and setup use if desired 8 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors Hardware introduction 1 2 Overall hardware description All internal and external main connections can be seen in the illustration below 1 2 1 I
118. ary to interpret them as 16 bit to get the sign correct JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 135 6 3 PROFINET objects Read parameter Read of parameters is done with SFB52 as shown below 113 3 ADB DEDO Req Read DE ID STATLIS LEN DB6 DBW4 Req Read DE Index DBE DEWE Req Read DB Len 085 0800 Resp Read DE Data TT3055 01GB The data block must be setup prior to use in this example Req Read and the 32 bit result will be in Resp Read DB Data Name Descrg on a ID JID of device 2042 Object and sub object to read from 0x1122 High byte Object Low byte Subobject register no Length of data 4 always 4 byte 32 bit Example Read from object 0 I I subobject 0x22 module parameter no 34 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 MACO50 141 In those situations it is necessary to interpret them as 16 bit to get the sign correct 136 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 6 4 6 4 1 Ethernet switch Selecting an Ethernet Switch Depending on the network topology and size suitable switch can be used Also if mul tiple separated networks need to be connected switch is used Depending on the actual size of the network different requiremen
119. as follows Package Class 0x64 Service 0x10 write data Instance 0x2 mode register in the motor Attribute Ox I Data 0x00 00 00 01 This will set the mode register in the motor into velocity mode Motor Register 2 To read a value from the motor use the service code OxE After setting the motor into velocity mode it will start running Now the actual velocity can be read while the motor is running Package Class 0x64 Service OxE Read data Instance OxC Actual velocity Attribute Ox I Now the response data is received Data 0x00 00 01 15 This value Ox I 15 hex is the decimal value 277 which corresponds to 100 RPM This is the default velocity value So basically the motor can be controlled and all needed data can be retrieved using ex plicit messages This method is not suitable when data is needed fast and frequently for this purpose I O messaging Implicit messaging is used Not only motor registers are accessible using explicit messages also static data such as serial numbers network status etc are accessible These informations are accessible ac cording to the EtherNet IP standard and follows the implemented classes Ox I 0x4 OxF5 OxF6 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 87 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 4 3 4 3
120. ation Bl vo Configuration B 1 0 Devices Device 1 EtherCAT f Device 1 Image Device 1 Image Info QT Inputs p m 1 Outputs PDO Assignment Dx1C12 PDO Content 041400 InfoData 3 41 Drive 1 MACOO ECx 0x1 600 E 68 Mappings NC Task 1 SAF Device 1 Inputs IT actual value DINT Edit Move Up redefined PDO Assig Move Down een b Load PDO info from device PDO Configuration A Syne Unit Assignment E Local 127 255 255 1 1 1 TT3080GB By selecting an object and pressing then that object is inserted in the PDO and will be transferred to the MACOO ECx device at next reload devices if the PDO configu ration checkbox is checked x Name Velocity actual value Index hex 24584 Cancel Sub Index Data Type Bit Lentgh From Dictionary 6041 Status word 0x6061 Operation mode display D 5064 Position actual value Ox606B Velocity demand value Ox606C Velocity actual value Ox60FD Digital inputs TT3081GB For further information about PDO configuration please consult the appropriate manual for the PLC system used 52 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 3 5 CiA DSP 402 drive profile 3 5 5 Factors Position factor The position factor is th
121. ave on Ethernet Powerlink network Exception New flag in POWERLINK frame Emergency Object Ethernet PowerLink Ethernet PowerLink Standardisation Group Identifier Internet Protocol IP address the logical address of the device which is user configurable Media Access Controller MAC address the hardware address of the de vice 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 in stalled in the motor Managing Node master on Ethernet Powerlink network Network Address Translation used in EPL router to reach destinations outside EPL segment Network Management Process Data Object for cyclic data Poll Request A frame used in the isochronous phase of the cyclic commu nication With Poll Request the MN requests the CN to send its data Poll Response A frame used in the isochronous phase of the cyclic commu nication The CN responses with a Poll Response frame when it receives a Poll Request from the MN Slot Communication Network Management In POWERLINK network the MN allocates data transfer time for data from each node in a cyclic man ner within a guaranteed cycle time Within each cycle there are slots for Isochronous Data and for Asynchronous Data for ad hoc communication The SCNM mechanism ensures that there are no collisions during physical network access in any of the net worked nodes thus it provides determin i
122. bel from the sheet and place it in this area The existing typenumber and LED texts will thereby be overwritten replaced instiuti your module has MOT been pre installed wilh protocol please add one of the io your module m order bo conform with the appropnale LED marking and ie nght module type number matching ihe prolooal you install SN 83022 00 50 C2 _ D0 CO 7A TT3040GB Typenumber overview Type Ethernet Protocol MAC00 EC4 EC41 EtherCAT MACOO EI4 EI41 EtherNET IP 14 JVL Industri Elektronik A S User Manual Ethernet modules for MAC motors 2 2 I O descriptions 2 2 1 Hardware overview Expansion module MACOO Ex4 and Ex41 front plate Neutral module for all the Ethernet protocols M AC00 Ex4 shown Module status indicators PWR Power supply connector L AIN E Eero M 12 5pin male and Primary Ethernet y vs R Green LED for indicating channel M 12 4pin x a power applied female D coded LL Gr I O and LED for showing DEI C I O s and RS232 interface activity EN g M AC00 Ex4 basic version JE M 12 8pin female L A OUT TSE 1 digital input and 1 digital output 1 analogue input channel M 12 4pin MACOO Ex41 ext verison gu J ammm M 12 17pin female female Ethernet coded GA 83022 B EE D coded Used when P 0050 0 m rene adn module is daisy chained 2 RS485 channels MAC Address Serial numb
123. bit Shows how much the motor is behind the ideal movement precise operation depends on mode When this accumulated value exceeds Reg26 FNCERRMAX the FNC ERR bit is set in Reg35 ERR STAT and the motor will stop TIL521GB 176 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 9 2 Motor registers MAC050 141 eeue PR _ MacReglo Name Name Default Access 28 __ high word oF FNC ERR 26 FNCERRMAX 32 bit SEES Eo MN On eg tie pT 30 MAXP ISL32bt gt Pim MAX P IST AGG EMERG a _ 35 ERR STAT Bit 0 I2T ERR Too much energy dissipated in the motor windings Set when Reg16 I2T exceeds Reg17 I2TLIM Bit 1 FLW ERR The actual position is too far behind the ideal position Set when FLWERRMAX is non zero and FLWERR exceeds FLWERRMAX Bit 2 FNC ERR The value of Reg24 FNCERR exceeded the value of Reg26 FNCERRMAX Bit 3 UIT ERR The value of Reg18 UIT exceeded the value of Reg19 UITLIM Bit 4 IN POS For position related modes The actual position was detected to be inside the InPosition window Reg33 INPOSWIN at least the number of times defined in Reg34 INPOSCNT For other modes Depends on mode for velocity related modes this bit means AtVelocity for other more special modes this bit is calculated differently ask JVL for details Bit 5 ACC FLAG The drive is currently accelerating the v
124. bly ti Servo 1 Datall HiSewo TiDaaQ 0 o HiSewo Data 0 HiSewo 10 0 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 7 4 3 72 Using cyclic I D messages MacTalk IO assembly setup seen in the controller tag list and read from the PLC when the connection has been established MacTalk setup Cyclic data setup Read Word 1 2 Operating mode Read Word 2 10 Actual position Read Word 3 12 Actual velocity Read Word 4 ji 69 Actual torque Read Word 5 35 Error status Write Word 1 3 Requested position Write Word 2 5 Velocity Write Word 3 6 Acceleration Write Word 4 7 Torque Write Word 5 jo No Selection TT3028GB ERERERERE ERERERERE Servo 1 Servo 1 1 Data Servo 1 1 Data 0 FH Servo 1 1 Dataf1 Servo_1 1 Data 2 HE Servo 1 1 3 H Servo 1 I Data 4 Servo 1 0 E3 Servo 1 0 Data EE Servo 1 O Data O ac amp i Servo 1 D Data 1 41 Servo 1 0 Data 2 H Servo 1 0 Data 3 EU 2 512 FH Servo 1 0 Data 4 Explanation 2 Operating Mode 2 position mode 10 Actual Position 200000 12 Actual Velocity 0 Cnt s 169 Actual Torque 0 1024 300 35 Error Status 524304 no errors Explanation 3 Requested position 200000 5 Velocity 8000 8000 2820 RPM 6 Accelera
125. city mode now the motor will use the acceleration and the velocity just config ured Please find a complete list of register descriptions in the appendix Motor registers MAC050 141 page 175 and Motor registers MAC400 3000 page 184 138 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 6 5 Examples 6 5 2 Running Position control Running the motor in position control requires that the mode register is set for position control The following registers is of particular interest when position mode is used Actual position P IST register 10 Actual velocity V IST register 12 Follow error The actual position error register 20 Motor load mean average motor load register 16 Error Status register 35 Requested position P SOLL register 3 Requested velocity V SOLL register 5 Requested acceleration A SOLL register 6 dH In this mode the position is controlled by applying a requested position to the P SOLL register and the actual position is monitored in the P IST register The V SOLL and A SOLL registers sets the velocity and acceleration used when positioning occurs Cyclic data set data setup Actual position P IST value is sent back in this word Head ward 1 10 Actual position Head Word 2 1 2 Actual velocity Head Word 3 20 Follow error Head Word 4 Motor load mean Head Word 5 35 Error status Actual
126. cted to the motor For connecting to the motor please follow the Quick start guide page 150 7 4 1 Running Velocity control To use the JVL motor in velocity mode the following motor registers is of interest Mode mode register 2 M SOLL velocity register 5 A SOLL acceleration register 6 Error Status register 35 RUN So to control these registers setup polling of motor register 12 actual velocity modbus address 24 and motor register 35 modbus address 70 This could look like shown below 7 Madbus Poll Mbpolli mbp n File Edit Connection Setup Functions Display wiew Window Help S 05 o6 15 16 17 2223 TC H 21 x i Mbpollzmbp 6 Err 0 10 F 03 SR 1000ms B Err 0 10 1 03 SR 1000ms 0000 Ox0000 Dx0100 For Help press F1 TT3064 01GB 192 168 0 59 502 Now we can monitor the motor errors and the motor velocity 158 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 7 4 Examples Calculate the values needed for velocity and acceleration constant values valid for MAC400 MAC I 500 and MAC3000 1 Set the needed velocity V SOLL V x 2 8369 rpm Ex We need the motor to run with a constant speed of 1200 RPM So V SOLL 1200 x 2 8369 3404 cnt smp 0x0D4C 2 Set the needed acceleration A SOLL A 271 RPM s Ex We need the motor to accelerate with
127. ctivity indicator Line activity indicator 00 50 C2 D0 CO 7A TT045G8 address Hardware serial number LED indicator descriptions LED Text Colour Constant Constant Double Triple off on flash flash No valid Ethernet L A IN Green Ethernet lis Activity on line connection connected No valid Ethernet L AOUT Green Ethemet lis connection connected Booting Power is Power is ap applied to PWR Green Power is not plied to both module but motor and no communi module cation with motor Notes Blinking Flashing with equal on and off periods of 200ms 2 5Hz Single flash Repeating on for 200ms and off for 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 expansion modules for MAC motors 101 9 3 Commissioning 5 3 2 Mechanical installation The network cables must be connected to the two M12 connectors marked L A IN and L A OUT on the module The cable from the MN is connected to either of the two ports In the line topology if there are more slave devices in the same line the next slave device is connected to the second port If there is a redundant ring the second port of the last slave device is connected to the second port of the MN
128. d off for 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 expansion modules for MAC motors 35 3 3 Commisioning 3 3 2 Quick start with TwinCAT Copy the Ethernet slave information file JVL ECS V13 XML to the folder AT wincat UOVEthernetV on the master PC 2 Apply power and make sure the PWR power LED is lit 3 Connect the Ethernet cable from Master to the L A IN connector and check that the corresponding LED is lit 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 1 8 empty tsm TwinCAT System Manager File Edit Actions View Options Help amp amp 5 Bak fd Slava rfl SYSTEM Configuration m NC Configuration BR PLC Configuration EB 0 Configuration cB Devices E i Online Reset ag pr Online Reload Config Mode only amp B Mapping Online Delete Config Mode only Ei Export Device E Import Bax EN Scan Boxes amp Cut Copy Ctrl C TT3004GB Paste pP Continued next page 36 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 3 3 Commisioning 6 The device should now appear in the left sid
129. ding of the requested homing mode 12 Torque based zero search mode only MAC motors 13 Forward only zero search mode 4 For ward backward zero search mode only MAC motors For a comprehensive description of the homing modes refer to the general MAC motor manual LB0047 xxGB e Observe that the Actual Mode is changing to the homing mode Now the module is blocking cyclic writes TO the motor Cyclic reads is still active e 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 expansion modules for MAC motors 9 4 8 Examples 4 8 5 Relative positioning There are a number of ways to do relative positioning but the one explained here is very simple and can be used with constant distance or exchangeable distance to move eve ry time it is requested Preconditions Place the module command register register 983040 in MacTalk in the cyclic write list The cyclic setup could for example look like this ik Noname v Motor Setup Updates Help MacTalk Versione 1 50 57 pr gt sD g Save Saveinflash Reset position Clear errors Reset motor Filter setup STOP Motor COM scan legisters Advanced Fiker parameters Tests Scope MACODEC EtheiCAT Status
130. ds 0 35mm 22AWG and foil screen WI1000 M12FSTOSN Length as 197 EA 4 4 Same as above but 20m 787 inch WI1000 M12F5T2ON Ethernet cable with M12 female 4pin D X X coded straight connector and RJ45 Wl1046 M12M4S05NRJ45 connector fits into std Ethernetport Ethernet cable with M12 female 4pin D Px x coded straight connector loose ends WI1046 M12M4S05R Same as above but 15m 590 inch WI1046 M12M4S15R Protection caps Optional if connector is not used to protect from dust liquids IP67 protection cap for M12 female connector Wl1000 M12FCAP1 IP67 protection cap for M12 male connector WI1000 M12MCAP1 Important Please note that the cables are 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 24 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 2 4 Cable accessories 2 4 2 Cables for the MACOO Ex41 extended 1 0 version The following cables equipped with M12 connector can be supplied by JVL MACOO Ex41 Connectors Description JVL Order no L A OUT 1 0 i 4pin pi i Female Female RS232 Interface cable Connects directly from MACOO Ex4 to a PC RS232 M12 1 5 8 Length 5m 197 inch Cable with M12 male 17 pin connector loose wire ends 0 22mm 24AWG and screen WI1009 M12M17S05N Length 5
131. e Torque based zero search mode Forward only zero search mode Forward backward zero search mode Safe mode Analogue velocity with deadband mode Velocity limited Analog Torque mode Analogue gear mode Coil mode Analogue bi position mode Analogue to position mode Internal test mode Internal test mode Gear follow mode IHOME mode poss pem fae dul The target position that the drive will attempt 67M R W reach in position related modes RIO P SOLL JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 175 9 2 Motor registers MAC050 141 t pert mm np eee 00000 MacReglo Name Name Default Access 5 V SOLL Max Velocity The maximum velocity the motor is allowed to use A SOLL Acceleration Counts The maximum acceleration in counts sample Sample the drive is allowed to use during normal operation Also note Reg32 ACC EMERG used during emergency stops T SOLL Torque 0 1023 The maximum torque that the drive is allowed to use The value 1023 corresponds to 300 of nominal load and is the absolute maximum peak torque allowed The value 341 gives 10096 nominal load named SIM E IN P FNC P SIM P IST 32 bit __ actual motor position measured by the internal encoder Updated every 1 9ms Note that this register is maintained incrementally which means that the user can update it to offset the worki
132. e And this setting should also be saved in flash NY MacTalk Noname Ele View Motor Setup Updates Help MacTalk Version 1 50 57 G b 9 5 Save in flash Reset position Clear errors Reset m Main Registers Advanced Filter parameters Tests Scope MACOO EC Ethet tartup mode Y Eror handling C Passiva Change actuel mode Max Follow Veloa Max Function errors zT Position linit min GearFollow C Analogue velocity Position limit max Brno m velocity wilh deadband Enron acceleration TT3084GB Y Inputs Qutr 116 JVL Industri Elektronik A S User Manual Ethernet modules for MAC motors 5 7 Examples Register 2 Operating mode has to be present in BOTH the cyclic read words and cyclic write words IN MacTalk Noname MacTalk Version 1 50 57 File View Motor Setup Updates Help pr Gs d gt e Open Save Save in flash Reset position Clear errors Reset motor Filter setup STOP Motor pe Main Registers Advanced Filter parameters Tests Scope MACOO EC EtherCAT Cyclic data elup Read Word 1 2 Operating mode ACUS Do Setup Ethernet settings IP address 192 168 0 59 Subnet mask 255 255 255 0 Default gateway 0 0 0 0 EtherCAT error handling D COM scan Read Word Read Word 3 12 Actual velocity Read Word 4 16 Motor load mean
133. e 3 word lell The requested acceleration is set in the 5 word TT3016GB With the settings illustrated above we initiate the velocity mode by writing Ox to the first word value this is velocity mode From the Master the registers is accessed using the PDO21 and accessing the registers R W on words 1 5 Since different PLC s have different methods of implementation the basic steps is de scribed in the following Set the needed velocity V SOLL V x 2 77 rpm Ex We need the motor to run with a constant speed of 1200 RPM So V SOLL 1200 2 77 433 cnt smp 2 Set the needed acceleration A SOLL A x 271 RPM s Ex We need the motor to accelerate with 100000 RPM s so A SOLL 100000 271 369 cnt smp 3 Now set the motor into velocity mode and thereby activate the motor Ex The motor needs to be activated by setting it into velocity mode so we need to set the mode register to the value Mode which is velocity mode now the mo tor will use the acceleration and the velocity just configured Please find complete list of register descriptions in the appendix Motor registers MAC050 141 page 175 and Motor registers MAC400 3000 page 184 56 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 3 6 Examples 3 6 2 Running Position control JVL profile Running the motor in position control requires that the mode register is set for position control The foll
134. e energized by setting register 2 into either 0 passive mode or into one of the supported modes Example Velocity mode 2 Position mode etc So in order to Stop or Start the motor this register can be supported in the I O data or by sending an acyclic message JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 139 6 5 Examples 6 5 4 Homing using only cyclic 1 0 JVL profile When doing a homing Zero search with only cyclic I O some preconditions have to be met Zero search position zero search velocity and zero search torque torque only for MAC motors has to be set in MacTalk in the Main tab and saved in flash in the motor once and for all VA Mac Talk Noname File View Motor Setup Updates Help MacTalk Version 1 50 57 a Ga Save flash Reset position Gear errors Resetmotor Filter setup STOF Motor 57 handling Follow ears Function smars Position mi GearFollow ete Analogue velocity Position limit max C Anal velocity wath deadband r e oe 4 Eno acceleration Velociqy analogue torque i T nputsDupus Ar EE Invert Output 1101 Analogue ge LEE Invert 2 02 C Analogue biposition 101 User controlled C Analogue to position 102 User controlled Profile dla 140 Type velocity 1002 Accelerati
135. e following operation modes are supported Profile position mode Velocity mode e Homing mode Preconditions Before the DSP 402 mode can be used the firmware in the MACOO ECx module must be updated to at least version 3 22 Besides version 13 of the XML file must be used JVL ECS VI3 xml found on the web page http www jvl dk The start mode of the motor must be set to passive No power up Zero searches must be selected f 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 Selecting DSP 402 drive profile As default the MAC00 ECx uses the JVL profile In order to use the DSP 402 drive profile instead it is selected in this way In MacTalk in the Ethernet tab the checkbox Enable DSP402 drive profile is checked and the Apply and save button is pressed Then after a power cycle the MACOO ECx will wake up with DSP 402 drive profile enabled instead of the standard 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 Supported objects Most of the DSP402 parameters start up in
136. e list of register descriptions in the appendix Mo tor registers MAC050 141 page 175 and Motor registers MAC400 3000 page 184 7 3 1 Module registers i Modbus wem Description register address only C 08008 32770 X Hion 16 bit of MAC address placed in ow 16 bit ot word mec 02772 X tewsebtoMACaddes ooo mee pers _ mes Nimm 0x8016 11 14 0X801C Reserved for future use al 1 HEN NEM NN EN E d x x Ox804E 39 46 0X805C xr oj Reserved for future use wee see X DeimusomWde X jas gt 0x8062 49 63 0X807E dx Reserved for future use 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 x lt CE m B E m ex LE KJK CNN 36 LE JVL Industri Elektronik A S User Manual Ethernet modules for motors 153 7 3 154 Register access Register I MAC address MSB The 2 most significant bytes of module MAC Address 16 most significant bits of address Register 2 MAC address LSB The 4 least significant bytes of module MAC Address 32 least significant bits of MAC address Register 3 IP address This is the IP address of the device IP address Register 4 Netmask This is the netmask of the dev
137. e 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 should now be flashing and the process data should now appear on the bottom right side of the TwinCAT window 9 By pressing the CoE online tab it s possibly to inspect the CANopen objects and modify motor and module parameters lolx File Edit Actions View Options Help 3 see amp HS Bly 9 9 5 Qe ee AE SYSTEM Configuration l Il NC Configuration General EtherCAT Process Data Startup CoE Online Online Wl PLC Configuration M 1 0 Configuration Auto Update IV Single Update I Show Offline Data 9 1 0 Devices Advanced jail Objects Device 1 EtherCAT Device 1 Image Add to Startup Online Data Module OD AoE Port 0 f Device 1 Image Info QT Inputs i Outputs Device Type 000000000 0 InfoData Error Register 0x00 0 JL Box 1 MACOD ECx Manufacturer Device Name MACOO ECx Mappings Manufacturer Hardware Version 1 20 Manufacturer Software Version 3 22 472 Identity gt 4 lt RxPDO 21 gt 5 lt TxPDO 21 254 Sync Man 2 Assignment gt 1 lt Sync Man 3 Assignment yix Module command 0x 00000000 0 Module parameters gt 63 lt Motor parameters 32 bit gt 254 lt p p ne nnnn rm Fa L hee Le Q1 1 DINT In 0
138. e relation between the user unit and the internal position unit counts The position factor is automatically calculated when the feed constant Object 0x6092 and gear ratio Object 0x6091 are set Example We have MAC motor with 3 5 gear box connected to a belt drive The diameter of the drive wheel is 12 4 cm We want the unit of position to be in millimetres The circumference of the drive wheel is 389 56mm 124mm pi The parameters should be set as follows Object Name te 0x6091 sub index 1 Gear ratio Motor revolutions 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 Position factor formula 2 Gear ratio Motor rev Feed constant Shaft Rev Position encoder res Encoder Increments Position factorz OO Feed constant Feed Feed constant Shaft rev Position encoder res Motor rev or as objects Object 6091sub1 Object 6092sub2 Object 608Fsub1 Position factor Object 6092sub1 Object 6092sub2 Object 608Fsub2 The Position factor is calculated to in the above example 35 100 4096 Position _factor 36 8 38956 10 1 The above example is for a MAC50 141 For MAC400 MAC I 500 and MAC 3000 the number 4096 shall be changed to 8192 for MAC800 the number is
139. e slave devices process the incoming Ethernet frames directly extract or insert rele vant data and transfer the frame to the next slave device with a delay of approx 4s The last slave device in the bus segment sends the processed frame back so that it is re turned by the first slave to the master as a kind of response frame There are several protocols that can be used as the application layer In the CANopen over EtherCAT CoE technology the CANopen protocol is applied 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 expansion modules for MAC motors 3 1 3 1 2 Introduction to EtherCAT Abbreviations Following general used terms are usefull to know before reading the following chapters 00 100 MBit Ethernet on twisted pairs CAN Controller Area Network CANopen Application layer protocol used in automation CoE CANopen over EtherCAT DC Distributed Clock EMCY Emergency Object EoE Ethernet over EtherCAT ESI EtherCAT Slave Information ESC EtherCAT Slave Controller ETG EtherCAT Technology Group EtherCAT Ethernet Control Automation Technologie IP Internet Protocol IP address the logical address of the device which is user c
140. e that Activate POWERLINK communication is set to on 3 Close the window and save changes Add the XDD file contains info on the capabilities of the device 14 In the Tools menu of Automation Studio select Import fieldbus device 15 In the Open window find and select the 00000117 MACOO ELx xdd file and click Open This link can be used http www jvl dk default asp Action Details amp ltem 428 continued next page 102 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 9 3 Commissioning Associating with MACOO ELx 16 In the physical view of the project explorer window right click the CPU node and click Open POWERLINK in the pop up menu 7 Right click IF3 in the opened CPU POWERLINK window and click Insert in the pop up menu 18 Select MACOO ELx situated under POWERLINK devices and click Next 19 Enter the node ID of the device set earlier with MacTalk and optionally a name and click Next 20 The MAC00 ELx should now be visible in the physical view of the project explorer window Building project and transfer to PLC 21 Select Build configuration in the Project menu 22 When the build is finished then click the Transfer button 23 There may appear a warning Just ignore and click OK Investigating cyclic data 24 Right click MACOO ELx in the physical view of the project explorer window and click Open I O Mapping 25 In the View menu click Mo
141. each direction MACO50 MAC141 MAC400 to MAC3000 30548 EE The minimum cycle times is only valid if not sending any acyclic requests while in any operating mode 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 40 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 3 4 EtherCAT objects 3 4 3 Service Data Objects SDO Service Data Objects SDOs are mainly used for transferring non time critical data for example identification configuration and acyclic data 3 4 4 Emergency Objects Emergency Objects EMCYs are used for sending fault information from the communi cation module and the drive to the EtherCAT network They are transmitted whenev er a fault occurs in the drive or in the module Only one Emergency Object is transmitted per fault EMCYs are transmitted via SDO s The following error codes can be generated Errorcode Ox1001 Generic error Motor error Errorcode Ox1003 Generic error Internal communication error When the error is no longer present the module will send a NoError EMCY object once The EMCY object 1001h is sent as an 8 byte message and has the following structure ByteO Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 CANopen CANopen 8 bit error MAC motor MAC motor MAC motor MAC motor Reserved error code err
142. ed to the same potential MAC400 Motor with Ex4 It is recommended that a separate supply line is used for each motor Power Supply Mains 115jor 230VAC MAC400 Motor with MACO00 Ex4 Power P o Supply Max 26VDC Control Volt CVI Mains 115 or 230VAC TT3011GB JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors I7 2 1 Module types Analogue input connection at the MAC motor mounted with a MAC00 Ex4 or Ex41 module Connected to external controller Position or MAC motor M ake sure that all velocity 1M ACOO Ex4 involved units are controller or MACOO Ex41 connected to the same potential N 10V out gt dL d AIN1 analogue input y GND ground AIN2 only MACO0 Ex41 Note screen only connected to signal source Connected to a potentiometer WW If only 24V supply is available MAC motor M ake sure that all i i involved units are insert a 2 7k resistor here 4M ACOO Ex4 involved connected to the same or MACOO Ex41 potential Power supply 10VDC y AINT analogue input v GND ground Al N 2 only M ACOO Ex41 2kOhm potentiometer Note screen only JVL typeno POT2K connected to signal source This example only covers 0 10V but other configurations do of course also exist such as 0 5V or 10V Connected to a zero search switch MAC motor M ake su
143. elected in Reg213 UART1_SETUP Further MY_ADDR can be read and used by the fieldbus modules for CANopen DeviceNet and Profibus to define their address on the fieldbus if not selected by DIP switches on the MACOO xx module 203 MOTOR TYPE not Na Word Value read from factory flash memory to identify the type 15 MAC800B il FE EE MI AN present 0 R serial number of the motor 205 HW VERSION not Na Word Bits 23 20 Value read from factory flash memory to present 0 R identify the Main version of the bootloader Bits 19 16 Value read from factory flash memory to identify the Minor version of the bootloader Bits 7 4 Value read from factory flash memory to identify the Main version of the PCB controller board hardware Bits 3 0 Value read from factory flash memory to identify the Minor version of the PCB controller board hardware The remaining bits are reserved mmm R SO checksums ofthe firmware andine Bootoader _ present 0 R checksums of the firmware and the bootloader 207 USEROUTVAL not Word The values of bits 1 0 are output to the standard InPosition and ErrorOut hardware signals if the corresponding bits 9 8 USER INPOS and USER ERROR in Reg39 HW SETUP are set 208 COMM ERRS not Na Word Counts the number of communication errors that have ER Imm qo Im o occurred on the MacTalk serial interface Errors can be framing errors and protocol data errors not 0 8191
144. elocity is increasing Bit 6 DEC FLAG The drive is currently decelerating the velocity is decreasing Bit 7 PLIM ERR One of the software position limits was exceeded drive will go into stop mode then passive mode automatically Bit 8 FRAME ERR TX A framing error was detected during the last reception on the FastMac protocol Continued next page TIL522GB JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 177 9 2 Motor registers MAC050 141 t ume ert pem MacReglo Name Name Default Access ERR STAT Bit 9 RELPOSPSOLL cont from last page Bit 10 RELPOSPFNC These two bits determine what will happen when one of the eight general purpose position registers P1 P8 is activated through either a FastMac command including activating s register group through writing to Reg43 P REG P on changes in bi position mode or during manual resynchronization If both are zero the P register gets copied to the target register s If Bit 9 is set the value of Reg3 SOLL is added to the target register s to make a relative movement If Bit 10 is set the value of Reg8 is added to the target register s to make a relative movement Bit 11 IX ERR The current in at least one of the motor windings was measured to be too high possibly because of bad current loop filter settings Values for the current filter have been overwritten with default values Specifically registers
145. elocity sets the V SOLL requested velocity value The resolution is 100 RPM 277 counts sample Acceleration requested acceleration Not used Any register can be inserted here 4 5 4 Error status handling The register 35 in the motor holds information on the actual error status So it is crucial that this register is configured in the assembly object and thereby obtained and moni tored in the scanner In case of an error situation the motor will stop and the cause will be present in the register 35 and hence in the I O data This register also holds information on the motion status such as n position bit 4 Accelerating bit 5 Decelerating bit 6 Please find a complete list of register descriptions in the appendix Motor registers MAC050 141 page 175 and Motor registers MAC400 3000 page 184 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 Example Velocity mode 2 Position mode etc So in order to Stop or Start the motor this register can be supported in the I O data or by sending an explicit message 82 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 4 6 Configuration using different methods Basically a JVL motor works by loading a configuration into RAM memory from the none volatile flash memory whe
146. er Each module is having its own Eeach module have its own unique M AC address used mone unique serial number which to identify it on the Ethernet can be used for determine network The M AC address can also be read electronically hardware version etc Secondary Ethernet 2 2 2 External signals available at the MACOO Ex4 and Ex41 Following signals are available e L A IN and L A OUT connector The Ethernet connection L A IN is connected to the upstream master and L A OUT can be used downstream for the next motors units in the chain e I O connector AINI analogue input 10V Can be used as input for the zero search sensor or as general analog input for speed or torque control depending on the what the actual operation mode in the motor has been setup for MACOO Ex41 offers a second analogue input AIN2 Function similar to AINI Ol user output Can be used as or as general output control able over the Ethernet interface MAC00 Ex4 offers a second digital output O2 Function similar to O2 RS232 Interface Serial unbalanced interface for connection to PC or controller The protocol is similar to the USB or RS485 interface which means that all registers parame ters in the motor can be monitored or changed RS232 is not recommended for long distances gt 10m INI User input 1 Can be used as general input which can be read over the Ethernet interface MACOO Ex41 offers in total 4 di
147. erating mode present 100 RW counts In all cases it helps to define when the motor is InPosition and thus will set the InPosition bit in the ERR STAT register For normal Position related modes the motor is considered to be in position when the actual position is less than INPOSWIN encoder counts away from its target position P SOLL and have been detected to be so at least INPOSCNT times For Velocity related modes the concept of InPosition will instead mean AtVelocity and work in similar way that the actual velocity V IST must have been measured INPOSCNT consecutive times to be within INPOSWIN counts sample before the InPosition bit is set in Reg35 ERR STAT INPOSCNT not Na Word The number of consecutive times the In Position condition present 3 RW must have been met before the InPosition bit is set in ERR_STAT See description above for INPOSWIN 35 ERR_STAT not Na Word Bit 0 I2T ERR present RW Bit 1 FLW_ERR Bit 2 FNC_ERR Bit 3 UIT ERR Bit 4 IN POS Bit 5 ACC FLAG Bit 6 DEC FLAG Bit 7 PLIM ERR Bit 8 DEGC ERR Bit 9 UV ERR Bit 10 UV DETECT Bit 11 OV ERR Bit 12 IPEAK ERR Bit 13 SPEED ERR Bit 14 DIS P LIM Bit 15 INDEX ERR Bit 16 OLDFILTERR Bit 17 U24V ERR Bit 18 SHORT CIRC Bit 19 VAC ON Bit 20 PWM LOCKED A critical error has occurred that makes further motor operation too unsafe to continue The motor must be reset to clear this error The cause of this error is one or more of bits IPEAK ER
148. es for MAC motors 155 7 3 Register access Register 15 Command register This register is used for sending commands to the module and is write only The possible commands are listed in the table below Command description Module only commands 0000 0000 0 No operation lt Same as Ox 0000 0001 Reset the module lt Same as 0 0000 0010 Save module parameters to flash lt Same as Synchronized commands EC ONEN o armen re Motor only normal commands via module cmd register s n Save bara Ta SWEET sae a Motor only FastMac commands via module cma register MAC400 MAC3000 0x800000EO 2147483872 No operation Sameas 0x8000 00 2147483873 Reset error Clear error bits in motor register 36 Sameas 0x800000E2 2147483874 P SOLL 0 Sameas 0x800000E3 2147483875 P ST 0 _ Sameas Joxs000 0064 2147488876 PFNOC 0 Sameas 0x800000ES 2147483877 V SOLL 0 Sameas 0x8000 00 6 2147483878 T SOLL 0 0x800000E7 2147483879 ResetiN POS ACG DEG Sameas 0x800000E8 2147483880 P FNC FLWERR P7 16 Sameas 0x8000 00E9 2147483861 P FNC FLWERR P8 16 0x800000EA 2147483882 Reseved Sameas 0x800000EB 2147483883 Reseved wp Sameas 0x800000EC 2147483884 Activate PLVIAT TILLZI Sameas 0x800000ED 2147483885 Activate PLVBA2 TAI272
149. etIP integration of the JVL Motor IMPORTANT Please notice that the motor will be active and may start moving when the mode register reg 2 is set to anything than O passive mode The MAC400 800 1500 and 3000 will require AC supply in order to be active 80 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 4 5 4 5 2 Implementation guidelines Running Velocity control To use the JVL motor in velocity mode the following registers are basically of interest Mode Mode register 2 V SOLL Velocity register 5 SOLL Acceleration register 6 Error Status Error and status register 35 RWN So to control these registers the assembly object needs to configured From MacTalk the setup is configured as this Cycle data setup Head ward 1 fi 2 Actual velocity The actual velocity is transferred in the 1 word Read Word 2 1 Actual position n e The 5 word holds the data from the error status Head word 4 1 Actual torque register This data is a bitfield structure holding both Read ward 5 35 Error status motion related information and present error type The operation mode is set in the 1 Word O passive mode and 1 Velocity mode Write word 2 Operating mode Use passive mode to stop the motor and Write Word 2 3 Requested position velocity mode to start the motor write Word 3 5 Velocity Write Word 4 Torgue Write
150. g Y Information configuration p Online amp diagnozticz Properties I u Info p Diagnostics General PROFINET interface x1 neral vw Details view Ethernet addresses Update time Advanced option Name Interface options Automatic Can be set Adapt update tire when send clock Number of accepted update cycles without IO data Accepted update cycles without I data 3 Watchdog ume 000 4 Portal view chy JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 129 6 3 PROFINET objects Accessing process data The PZD is done by setting up the motor registers you want to use with MacTalk or with acyclic parameter access to object 0x I subindex 16 31 In MacTalk the process data is configured on the PROFINET tab see below After change of the registers remember to press the Apply and save button Cycle data setup Read Word 1 10 Actual position Here the actual position is transfered Head Word 2 12 Actual velocity Read Word 3 20 Follow error Read Word 4 16 Motor load mean Read Word 5 35 Error status in the 1 word of data Write Word 1 2 Operating mode vi The operation mode is written in the White Word 2 L Acceleration Write Word 3 5 Velocity Write Word 4 7 Torque White Word 5 3 Requested position 130 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MA
151. g cyclic writes TO the motor Cyclic reads is still active e 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 expansion modules for MAC motors 59 3 6 Examples 3 6 5 Relative positioning There are a number of ways to do relative positioning but the one explained here is very simple and can be used with constant distance or exchangeable distance to move eve ry time it is requested Preconditions Place the module command register register 983040 in MacTalk in the cyclic write list The cyclic setup could for example look like this ik Noname v Motor Setup Updates Help MacTalk Versione 1 50 57 pr gt sD g Save Saveinflash Reset position Clear errors Reset motor Filter setup STOP Motor COM scan legisters Advanced Fiker parameters Tests Scope MACODEC EtheiCAT Status l Motor statu Agua mode Actual velocity Aciual pasikor Follow error Function error met settings data setup ddress Read Word 1 2 Operating mode Read Word 2 35 Error status Read Word 3 J No Selection auk gateway 0 0 0 Read Word 4 0 No Selection Read Word 0 No Selection n 1 net mask CAT error handling 4 Read Word 6 0 No Selec
152. ge 20 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 2 3 Connector description MACOO Ex4 continued I O O s and interface M12 8pin female connector JVL Cable Isolation WI1000 M12 group Signal name Description M8TO5N See note O1 RS232 TX RS232 RX 1 Interface ground to be used together with the other signals in this connector Also ground for 4 Yellow 1 the analogue input AIN1 pin 5 AIN1 Analogue 10V or used for zero search 5 1 N1 Digital input 1 12 32V tolerant i 2 J I O ground to be used with the I O terminals O1 7 and IN1 Positive supply input to the output circuitry Connect 5 32VDC to this terminal if using the O1 output C A IN Ethernet port connector M12 4pin female connector D coded JVL Cable Isolation WI1046 group Signal name Description M12M4S05R See note OUT Ethernet port connector M12 4 pin female connector coded JVL Cable Isolation WI1046 group Signal name Description M12M4S05R see note Shield Outside shield connected to connector housing Note Isolation group indicate which terminals circuits that galvanic connected to each other In other words group 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
153. ge JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 165 8 2 Setting up the Ethernet at the PC Step 2 Find the Internet protocol version 4 T CP IPv4 and press Properties RE p ConbolPene p Network and nberret p and Center Fond Horne View your basic network information and set up connections Change adapter setings Hla il LAN Tortndelse Properbes This connection une Ea Baes OE Cieni ior Morsa s virtual PE Mateo Fiber Dyer Boss Packet Shadi H EE Find the Internet protocol hiene Protocol Veron E CPP ai gt anne version 4 TC Pv4 x Protacol TCP P Link Layer Topology Discowery Mapper UT Dever Urke Topology Daoovay Pepik feste Press Properties Toeman Coto Protocol The delauk mide met metwork potona thal provides commurscatan BETTER SENG SE DK Cancel _ TT3072 01GB Press Properties Now the settings finally appears and we are able to change the IP address subnet mask and gateway Step 3 Select Use the following and enter a valid configuration similar to the one below Internet Protocol Version 4 4 Properties 9 General You can get IP settings assigned automatically if your network supports this capability Othe
154. gital inputs INI IN2 IN3 and INA JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 15 16 I O descriptions I O supply and gnd IO and O Used as ground and supply for the user in output Ol and INI 2 R5485 Multifunction I O channels Only available at the MAC00 Ex4 Can be used for encoder input full duplex serial communication encoder output etc e PWR connector 24 supply for the internal control circuitry in the motor JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 2 1 2 2 3 Module types General power supply description The Ethernet modules can be used in the allmost all the MAC motors but please be aware that to use the MAC50 to 141 they will need the special option A009 for ex ample MACI 40 A I AAAA A009 The diagram below shows how to connect power to a MAC400 motor mounted with a MACOO Ex4 Ex4 module Please notice that the voltage connected to P and or CVI must stay in the range 12 26VDC When using a MAC50 to 141 up to 48VDC is al lowed See also the general power supply description in the MAC motor main manual LB0047 For further information concerning physical connections see the Expansion module MACOO Ex4 basis version connector description page 20 Power supply connections to a MAC400 mounted with a MACOO Ex4 module Make sure that all involved units are Power supply connect
155. h command and to re boot the device before the changes take effect Object Ox2011 Subindex 24 31 Register no to place in RxPDO 21 These registers contain the numbers that define the registers which are in the RxPDO 21 That is the register s which is transmitted from master to slave cyclically If some of these registers are changed it is necessary to issue a save in flash command and to re boot the device before the changes take effect Object Ox2011 Subindex 32 38 These registers contain HW SW and communication information of the module Object Ox2011 Subindex 47 Digital inputs on module With this object the status of the 4 digital inputs can be read Ni Note Please notice that the number of inputs available is depending on which version of the module which is used JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 5 4 Ethernet POWERLINK objects 5 4 20 Object Ox2011 Subindex 48 Status bits This register is used for miscellaneous information about the module 5 4 21 Object 0x2012 Object 0x2012 are for acyclic view or change of motor registers Please find complete list of register descriptions in the appendix Motor registers MAC050 141 page 175 and Motor registers MAC400 3000 page 184 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 11 9 9 112 Network Management Services Ethernet POWERLINK Network Management
156. h this object a poll division factor can be set This enables use of cycle times faster than the motor is capable of If for example having a MACO050 14 and 5 cyclic write and 5 cyclic read registers then a minimum cycle time of 20ms is needed Instead it is possible to have a net cycle time of ms and a poll division factor of 20 Then the motor internally only get updated every 20ms RAN Reserved Poll division factor Only applicable for MACO050 141 Only read at power up or after reset So in order to change the value first change this value then issue a save in flash command then reset the module 3 4 14 Object 2011 Subindex 9 Station alias node number With this object a station alias node number is set manually R W Station alias Only read at power up or after reset So in order to change the value first change this value then issue a save in flash command then reset the module 3 4 15 Object 0x2011 Subindex 11 Input mask This register is used to setup input mask on the digital inputs IN 4 Bit 1631 i52 118 74 po NL mask Bit set results in that corresponding input is configured as Negative Limit switch Bit 0 3 corresponds to INI 4 PL mask Bit set results in that corresponding input is configured as positive Limit switch Bit 8 1 I corresponds to INI 4 46 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 3 4 3 4 16 3 4 17 3 4 18 3 4 19
157. he Ethernet module for new commands 6 lf needed then monitor register 35 Error status When bit 4 is set in position then the move is finished 7 When new relative move is requested 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 142 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 7 MACOO EM4 EM41 ModbusTCP IP module JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 143 7 1 Introduction to Modbus TCP IPE Expansion module MACOO EMA front plate NP 53022 00 50 C2 DO C0 7A TT3058GB 7 1 1 Introduction Modbus TCP IP or Modbus TCP is Modbus variant used for communications over TCP IP networks connecting over port 502 It is basically Modbus RTU without checksum calculation as lower layers already provide checksum protection It is protocol based on the standard TCP IP protocols so it is applicable anywhere there is standard 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 144 JVL Industri Elektronik A S User Manual Ethernet modules for MAC motors 7 1 Introduction to Modbus TCP IP 7 1 2 Abbreviations The below general
158. i O00 me Apply Disable ReadAwrite Disabled Disable an error BHead wrte Once View Flows C 10 20 50 C 100 Fitto Quantity Display Hide Alias Columna Hes Address in Cell PLC Addresses Base 1 TT3061 01GB 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 Y Madbus Poll Mbpolll File Edit Connection Setup Functions Display view Window Help Do amp A 05 061516 172223 TOR 9 Ini xi x 401 Err 0 ID F 03 SR 1000ms 401 Err 0 ID 03 SR 1000ms 002 0 0000 Ox00Ce Ox0000 Ox0000 Ox0000 For Help press F1 SME 192 168 100 3 502 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 151 7 2 Commissioning Transmit data to motor You can transmit data to the motor by chosing Functions and 16 Write registers and if choosing Address 4 Quantity 2 and data 0 01 in address 004 least signif icant 6bit as shown below mode register velocity the motor should start turning If not then try to also write velocity reg 5 addr 10 acceleration reg 6 addr 12 and or Torque reg 7 addr 14 to some valid values Please find a complete list of reg ister descriptions in the appendix Motor registers MAC050 141 page 175
159. ibute Single OxE Get Attribute Single JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 65 4 2 Using none cyclic messages 4 2 4 Assembly object class 0x04 Holds pre configured motor registers to be accessed Instances 0x64 Write Data to motor register 0x65 Read motor register data Get Set Assembly 20 bytes Get Set all assembly data Bytes transferred in assembly Supported Services OxlO Set Attribute Single OxE Get Attribute Single This object can be used to access the predefined registers configured from MacTalk They are also accessed when using the implicit connection cyclically If other registers than the one defined in the assembly object needs to be accessed then the class 0x64 needs to be used This class accesses each register in the motor for a more dynamically way of controlling registers explicitly The vendor specific class 0x64 is specified in details later in this chapter 4 2 5 TCP IP object class OxF5 Holds data on different module specific data Attr ID Access Name Datatype Description 1 JOE X Staus INT Status bit field 2 JOE Configuration capability DINT DINTbit field 5 BOOTP DHCP e omo rosne _ See the EtherNet IP spec for further details section Vol2 sect 5 3 Supported Services Get Attribute All OxlO Set Attribute Single OxE Get Attribute Single 66 JVL Industri Elektronik A S Use
160. ice The netmask is fixed Subnet mask Register 5 Gateway This is the gateway address of the device The gateway address is also fixed Gateway Register 6 Setup bits This register is used to setup how the module reacts on different events Bt 5 Output Reserved 1 Enable mirror Reserved 0 Enable Ethernet 0 Ethernet error handling of module regis error handling motor set passive mode ters at address 1 Disable ethernet 1 Ethernet error handling 0x300 error handling motor set velocity to 0 Register 7 Digital outputs on module With this object the digital outputs can be controlled The value written to this object is directly shown on the digital outputs 2 31 Output Reserved The availability of the outputs depends on the actual version of the module used MAC00 EM4 only support Output Ol MAC00 EM41 supports both output and 2 Ol and O2 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 7 3 Register access Register 10 Modbus time out The Modbus TCP protocol does not have an implementation for timeout on application layer and this may be required when controlling drive supervision method has been implemented for this purpose 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 JVL Industri Elektronik A S User Manual Ethernet expansion modul
161. igh logic 1 when the value of the analogue line is above 5 0 volts This threshold can be adjusted by modifying the corresponding ANINPx OFFSET registers This way it is possible to use the analogue inputs as digital inputs with adjustable thresholds in the range 10V to 10V Bit 10 ANINP2 not signal conditioned Bit 9 ANINP1 not signal conditioned Bit 8 ANINP signal conditioned To use ANINP3 available on the MACOO P4 and MACOO P5 modules as analogue current loop 4 20 mA use Reg222 IOSETUP to make ANINP reflect the signal conditioned value of this input so the digital status will be shown in Bit 8 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 Digital Inputs management JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 193 9 3 Motor registers MAC400 3000 mme ES i MacReglo Name Name Default Access 107 2 not present Na Word Shows various status bits for the currently mounted Gen2 0 RW module For the MACOO B41 Bit 0 Digital Output overload This shows the staus of the output driver chip that controls the six digital outputs The overload status can be set if either an overcurrent condition or a too high temperature is detected This status bit is cleared when these conditions are no longer present Bit 1 CVO voltage detected
162. index 2 MAC address LSB The 4 least significant bytes of module MAC Address Least significant bits of address Object Ox I I Subindex 3 IP address This is the power on default IP address of the device Please note that the actual used IP address can be changed by DCP on the fly without being reflected in this register Output address Object Ox I I Subindex 4 Netmask This is the netmask of the device The netmask is fixed PP Subnet mask Object 0x I Subindex 5 Gateway This is the gateway address of the device The gateway address is also fixed Bit 0 31 Gateway W 134 PROFINET objects Object Ox I Subindex 6 Setup bits This register is used to setup how the module should react on different events 0 Ethernet error handling motor set passive mode 1 Ethernet error handling motor set velocity to 0 1 Disable Ether net handling power up Object 0x Subindex 7 Digital outputs on module With this object the digital outputs can be controlled The value written to this object is directly shown on the digital outputs OUT2 OUT 1 02 O1 The availability of the outputs depends on the actual version of the module used MACOO EP4 only support Output Ol MACOO EP4 supports both output and 2 Ol and O2 Output Reserved Object Ox I I Subindex 15 Command register Analogue to writing to object 0x10 But this be mapped in the PZD
163. ing 24V DC CV typical 150mA max 250mA User inputs Input impedance 4 7k Input current 24V 5 1 Digital output current HW rev Up to 1 2 I0mA Digital output current HW rev from 1 3 15 4 41 PROFINET IO Technical specifications Galvanic isolated OOMBit full duplex 100Base Tx no termination necessary Network topology Line ring tree and star possibly Forwarding delay 3 2515 Minimum cycle time Ims with MAC400 3000 Supported Protocols e CL RPC Connection less Remote Procedure Call DCP Discovery and Configuration Protocol LLDP Link Layer Discovery Protocol RTA Real time Acyclic Protocol RTC Real time Cyclic Protocol Class SNMP Simple Network Management Protocol MRP MRP Client is supported Max 100 m cable between slaves Connectors e PWR power MI2 connector 5pin male e I O MI2 connector 8pin female e and L A OUT Ethernet MI2 connector 4pin D coded female Supply Supply voltage CV 12 48VDC Nominal absolute max 50V Current rating 24V DC CV typical 150mA max 250 User l O Digital input impedance 4 7k Digital input current 24V 5 ImA Digital output current HW rev Up to 1 2 I0mA Digital output current HW rev from 1 3 15 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 173 9 1 9 1 5 174 Technical Data
164. ing homing meth ods Description able in able in Torque homing in positive direction Torque homing in negative direction LE X Torque homing in positive direction and afterwards homing on the index X pulse X Torque homing in negative direction and afterwards homing on the index pulse x Start positive unless home switch is active reverse on home switch active stop at index Start positive unless home switch is active stop at first index after active home switch Start positive reverse on limit switch stop at first index after active home X switch 10 Start positive reverse on limit switch reverse at homeswitch stop at index X Start negative unless home switch is active reverse on home switch active X stop at index 12 Start negative unless home switch is active stop at first index after active X home switch Start negative reverse on limit switch stop at first index after active home EIE switch 45 48 Notsupported PE 23 Start positive unless home switch is active stop at active home switch 27 Start negative unless home switch is active stop at active home switch 28 29 For a comprehensive description of the homing modes 3 34 please consult the CiA DSP402 version 3 0 4 3 2 1 2 ES Er bh 19 20 21 22 24 25 26 Please note that you should always use a home offset object 0x607C when using torque homing This is to ensure that the motor moves awa
165. isters needed to be addressed are Velocity V SOLL Register 5 Acceleration A SOLL Register 6 Torque T SOLL Register 7 To address individual registers explicitly we use the class 0x64 for the purpose JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 83 4 6 Configuration using different methods First we change the Velocity setting we want the motor to spin with 1000 RPM The message for addressing V SOLL is formed We need to scale 1000 RPM to the correct value in the motor the factor is I RPM 2 77 counts sample so we need to send the value 2770 0x00000AD2 The instance refers to the register number so we need to set instance to 5 V SOLL Please notice that the value is represented as 32bit Service hex 10 Clase hex 54 Instance hex 5 Attribute hex fi Member hex Symbol Tag Request Data Each byte is a 2 char hes value separated by a space 1 e 26 0000 08 04 TT3018GB Next we set the acceleration to be used We need the acceleration to be 20000 RPM s2 This value also needs to be scaled the factor is RPM s 0 0036 counts sample so in order to reach 20000 we need to send the value 72 0x00000048 Acceleration is instance 6 SOLL Service hex 10 Class hex 64 Instance hex Attribute hex fi Member hex Symbol Tag Request Data Each byte is a 2 char hes value separated by space fie
166. k Internet http www jvl dk CANopen Is a registered trademark of CAN in AUTOMATION International Users and Manufacturers Group e V CiA N rnberg DeviceNet Is a trademark of ODVA Open DeviceNet Vendor Association Inc EtherCAT Is a registered trademark and a patented technology of Beckhoff Automation GmbH Verl Bundesrepublik Deutschland formerly Elektro Beckhoff GmbH EtherNet IP Is a trademark of ODVA Open DeviceNet Vendor Association Inc Modbus TCP IP9 Is a registered trademark of Schneider Electric PROFINET 100 Is a registered trademark of PROFIBUS International Karlsruhe SERCOS interface Is a registered trademark of SERCOS International e V Suessen Germany Contents nt uction 00000000000000000000000000000000000000000000000000000000000000000000 Well Introduction uoo vos a 8 8 araware INTFOAUETION seede 2 General Hardware description I I Zl Module types 12 2 2 VO description ee theo 15 2 3 Connector description 20 2 4 Cable accessories svare 24 3 MAC00 EC4 EC4 EtherCAT module 000000000000000000000 29 3 1 Introduction to EtherCAT 30 3 2 Protocol specifications ua 32 COMMISIONING s rede 35 34 Ether C ATQ ODISGES ar 39 3 5 DSP 402 drive profile 49 30
167. le to the Ethernet interface of the PC with Mod bus Poll installed and to IN or OUT on MACOO EMx 7 Make sure power is applied to all devices Connect to MAC00 EMx 8 In the Connection menu of Modbus Poll select Connect 9 The connection is made by choosing the Modbus TCP IP protocol the IP address of the motor and port 502 As seen below Connection Setup Cancel Mode fr ATU ASCII 3600 Baud Data bits Response Timeout 1 000 ms Even Parity Delay Between Polls 1 Stop Bit Advanced 20 ms Remote Server IP Address Part Connect Timeout 1 92 168 100 3 v 502 3000 ms TT3060 01GB 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 150 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 7 2 Commissioning Setup poll registers I When connected it is possibly to change the polling of registers in the motor by right clicking in the default Mbpoll window and selecting read write definition In the shown example below is chosen Address 20 register 10 and Quantity 6 3 x 32bit registers This means that register 10 I I and 12 is polled Read Write Definition slave ID il Function 03 Read Holding Registers 4x Cancel Address jo Protocol address E g 40011 10 Quantity E Scan Rate
168. lektronik A S User Manual Ethernet expansion modules for MAC motors 6 MACOO EP4 EP41 PROFINET module JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 119 6 1 6 1 1 120 Introduction to PROFINET 10 Expansion module MACO00 EP4 front plate 4 00 50 C2 DO C0 7A TT3057 01GB Overview PROFINET IO is a fieldbus protocol that enables communication between programma ble controllers and distributed field devices in Ethernet networks PROFINET IO uses traditional Ethernet hardware and software to define a network that structures the task of exchanging data alarms and diagnostics with Programmable Con trollers and other automation controllers PROFINET IO can be thought of as PROFIBUS on Ethernet The protocol classifies de vices into IO controllers IO supervisors and IO devices which have specific collection of services PROFINET IO uses three different communication channels to exchange data he standard UDP IP and TCP IP channel is used for parameterization and configu ration of devices and for acyclic operations e Real Time RT channel is used for cyclic data transfer and alarms The third channel Isochronous Real Time channel is used e g in some motion control applications not implemented in JVL 4 41 PROFINET IO devices are structured in slots and sub slots which can contain modules and sub modules correspo
169. mentation Guide VI Ob pdf found on www modbus org Note Even though all registers is to be transmitted as 32 bit some of them originally derive from 16 bit in the MACO050 141 In those situations it is necessary to inter pret them as l6 bit to get the sign correct 7 2 5 Minimum poll time The minimum poll time is the minimum amount of time between each poll request on the Ethernet If operating with values lower than those listed data loss will occur No of polled motor registers 32bit MACO50 MAC141 MAC400 MAC3000 The minimum poll times is only valid if not sending any requests while in any operating mode 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 MAC 141 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 149 7 2 Commissioning 7 2 6 Quick start guide This section describes the steps to configure the MAC00 EMx module using the shareware pro gram Modbus poll which can be obtained from the website http www modbustools com Set IP address Connect the RS232 communication cable Apply power to the motor and make sure the PWR LED is lit Open MacTalk and select the MACOO EM Modbus TCP tab Change the IP address to one suitable for the network Press Apply and save UAWN Installation 6 Connect an Ethernet RJ45 M12 cab
170. n TURNTAB COUNT not Na Word Holds a count of the number of times the value of present 0 Reg25 P IST wraps around one of its limits MIN P IST or MAX P IST Used only with the Rotary table option Counts up or down depending on the direction of the wrap around MIN P IST not Na Word Encoder Used to define and enable the minimum software present 0 counts position limit so the motor will stop and enter passive mode if the value of P IST the actual position gets below this value If MIN P IST is zero the low position 2 JJ JJ limit will not be enabled DEGC not Na Word The temperature measured inside the drive present 0 R TIL502GB 1 2 3 4 5 6 8 9 2 86 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 9 3 Motor registers MAC400 3000 Ne arte Name Default Access Name 30 MAX P IST not i Word Encoder Used to define and enable the maximum software position present RW counts limit so the motor will stop and enter passive mode if the value of P IST the actual position gets above this value If MAX P IST is zero the high position limit will not be enabled DEGCMAX not Na Word The maximum value of Reg29 DEGC before the motor will ME 690 84 C LUN set the Temperature error bit in ERR STAT and change into Passive mode m il mp o pee present RW INPOSWIN not T Word Encoder The value of this parameter depends on the op
171. n 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 Several approaches can be used to configure the motor with data and finally saving them permanently in the NV flash A very general approach could be by using the PC based software tool MacTalk which offers both basic motor setup and control and the possibility to save all parameters in a separate file for backup purposes This software package utilizes the serial connection to communicate with the motor from any standard Windows PC Configuration over EtherNet IP is possible by using explicit messages to address each register to be setup and then command the motor to save the configuration in flash af terwards for permanent storage Using this method the motor only needs to be setup once and is easy achievable from the scanner itself either as an initialization routine each time the PLC initializes and thereby avoiding the permanent storage in the motor or simply using a configuration rou tine that sends the required explicit messages to address the needed registers followed by the message to save the settings permanently IP address and other network settings still needs to be setup using MacTalk E g Setting up a motor sending messages explicitly We want to change the default motor settings and save them permanently into flash The following registers needs to be saved The reg
172. n position attempt to maintain passive constant velocity or attempt to produce constant torque The various modes define the main type of operation as well as what determines the setpoint for that operation The special cases 256 258 are used to perform few special operations on the entire set of registers Supported values are 0 Passive mode The axis is not controlled by the drive and can easily be moved by hand or external mechanics 1 Velocity mode The drive will attempt to run the motor at a constant velocity selected by Reg5 V SOLL without violating the maximum torque or acceleration 2 Position mode The drive will at all times attempt to move the actual motor position to the position selected by Reg3 P SOLL without violating the maximum velocity torque or acceleration 3 Gear Position mode 4 Analogue torque mode 5 Analogue velocity mode 6 Analog Velocity Gear mode 7 Manual current mode 8 Step response test mode 9 Internal test mode 10 Brake mode 11 Stop mode 12 Torque based zero search mode 13 Forward only zero search mode 14 Forward backward zero search mode 15 Safe mode 16 Analogue velocity with deadband mode 17 Velocity limited Analog Torque mode 18 Analogue gear mode 19 Coil mode 20 Analogue bi position mode 21 Analogue to position mode 22 Internal test mode 23 Internal test mode 24 Gear follow mode 25 IHOME mode 184 JVL
173. nd label overview General status indicator p Error indicator Power indicator Line activity indicator Line activity indicator st P D0 C0 7A TT3070GB address Hardware serial number LED Text Constant off Constant on Blinking Flickering Ethernet LAIN Green de ba is connected Ethernet L A OUT Green NO valle is Activity on line connected Activity on line Red No System failures System failures Ted No Bus fares Power is applied to PWR Green Power is not applied both motor and module Notes Blinking Flashing with equal on and off periods of 200ms 2 5Hz Single flash Repeating on for 200ms and off for 1s Double flash Two flashes with a period of 200ms followed by 1s off period Triple flash Three flashes with period of 200ms followed by 1s off period Flickering Rapid flashing with period of approx 50 10 Hz Power is applied to mod ule but no communication with motor G 2 2 Mechanical installation The network cables must be connected to the two M12 connectors marked IN and L A OUT on the module The cable from the CONTROLLER is connected to either of the two ports In the line topology if there are more slave devices in the same line the next slave device is connected to the second port If there is a redundant ring the second port of the last slave device is connected to the second port of the CONTROLLER
174. nd torque parameters using the IO assembly 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 Mac Talk setup located at the EthernetIP tab Cyclic data setup Read ward 1 2 Operating mode Head Word 2 Actual position Head Word 3 1 2 Actual velocity Read Word 4 Actual terque Read ward 5 35 Error status KNENENENE I inte Word 1 3 Requested position write Word 2 5 Velocity Write Word 3 Acceleration Write Word 4 Torque Write Word 5 jo Mo Selection i The fixed sized assembly instances is divided into 5 read words and 5 write words The RSLogix ladder program 3 different messages for both setting data and retrieving data from the motor All 3 mes sages are triggered by separate variables from the controller tag list fo RSLogix 5000 Seryo1 in MAC400_Simple_II ACD 1769 L23E QB1 19 11 MainProgram MainRoutine Ej File Edit view Search Logic Communications Tools Window Help Als amp d e EZ ex 2 le ja ae Select a Language fun Ow Pn wose ton No Forces p B Controller OK zi No Edits Cp Jes ve Eo o 40 gt
175. ndingly Devices can have almost any number of slots and sub slots and they can be virtual or real Device specific data is represented in slot 0 module and sub module specific data in subsequent slots and sub slots One of the benefits of PROFINET IO is the diagnostics and alarm mechanism Every module and sub module provides alarm data to the IO controller using the cyclic channel Diagnostic data can be read non cyclically from the device by using record data 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 The GSD file describes the device specific modules and the method of assigning modules and sub modules to predefined slots and sub slots There is no theoretical limit for the amount of connected nodes in PROFINET IO net work but in practice the programmable controllers and number of available network addresses limits the size The PROFINET IO protocol is specified in the IEC standards 61158 and 61784 Further information can be obtained from www PROFINET com JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 6 1 6 1 2 Introduction to PROFINET IO Definitions and abbreviations Following general used terms are useful to know before reading the following chapters OOBase Tx Acyclic communication Cyclic communication DAP DCP GSD GSDML IO Controller IOPS IOCS IP MAC PZD TCP
176. net With fixed node addressing the addresses that each node has programmed is used 3 2 2 EtherCAT frame structure In EtherCAT the data between the master and the slaves is transmitted in Ethernet frames An EtherCAT Ethernet frame consists of one or several EtherCAT tele grams each addressing individual devices and or memory areas The telegrams can be transported either directly in the data area of the Ethernet frame or within the data sec tion of a UDP datagram transported via IP The EtherCAT frame structure is pictured in the following figure Each EtherCAT telegram consists of an Ether CATO header the data area and a working counter WKC which is incremented by all EtherCAT nodes that are addressed by the telegram and have exchanged associated data 44 1498 bytes 8 bytes 14 bytes 2 bytes 10 bytes 2 bytes 4 bytes Preamble Ethernet header DEM ee n th EtherCAT datagram Checksum 113007GB 3 2 3 Sync managers Sync managers control the access to the application memory Each channel defines con sistent area of the application memory The adapter module has four sync manager chan nels The mailbox protocol SDO s and process data PDO s are described later in this chapter 3 2 4 Sync manager watchdog The sync manager watchdog monitors the output sync managers If the output data is not updated by the EtherCAT master within the configured time the watchdog will acti
177. netmask is fixed JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 09 5 4 5 4 12 5 4 13 5 4 14 5 4 15 5 4 16 5 4 17 5 4 18 5 4 19 110 Ethernet POWERLINK objects Object 0x2011 Subindex 5 Gateway This is the gateway address of the device The gateway address is also fixed Bit 2481 11628 815 7 I O 192 168 100 254 Object 0x2011 Subindex 6 Setup bits This register is used to setup how the module should react on different events 0 Ethernet error handling 2 motor set passive mode 1 Ethernet error handling 2 motor set velocity to 0 Object Ox2011 Subindex 7 Digital outputs on module With this object the digital outputs can be controlled The value written to this object is directly shown on the digital outputs Output2 Output1 The availability of the outputs depends on the actual version of the module used MACOO EL4 only support Output Ol MACOO EL4 supports both output and 2 Ol and O2 Object 0x2011 Subindex 15 Command register Analogue to writing to object 0x2010 But this can be mapped in the RxPDO 21 if de sired Object 0x2011 Subindex 16 23 Register no to place in TxPDO 21 These registers contain the numbers that define the registers which are in the TxPDO 21 That is the register s which is transmitted from slave to master cyclically If some of these registers are changed it is necessary to issue a save in flas
178. ng range When updating when the drive is not in Passive mode P_IST and P SOLL should be updated together in an atomic operation using Reg163 P NEW or other special measures Also note that the firmware will change this register after zero search operation has completed high word of PIST 12 VIST 1 1 Actualvelocityofthedrve od gt gt gt the inertia of the motors rotor itself 14 GEARFi o Gearfactort Nominator 15 GEARF 1 X J Gearfator2 Denominator 16 T Energy dissipated the motor windings gt Pr JJ S S Safety limit for I2T above Motor will set an error bit if I2T gets above IZ TLIMIT Energy dissipated in the internal power dump ee Limit for Reg18 UIT Motor will set an error bit if UIT gets above UITLIM a 32 bit A measure of how far the drive is from its ideal regulation goal This value is calculated differently in the various modes and can mean things like pulses from theoretical position or difference in actual velo city to V_SOLL Contact JVL for more detailed information for specific modes high word of FLWERR FLWERRMAX 32 bit When Reg20 FLWERR exceeds this limit an error bit is set in Reg35 ERR_STAT and the motor will stop if Reg22 is non zero Usually this value is set experimentally to detect situations where a movement is blocked or fails BE FLWERRMAX FNCERR 32
179. nitor 26 You should now be able to see the cyclic I O registers like in the below picture 27 If Force is checked for the cyclic outputs then it s possibly to set register values in the Force Value column that is transferred to the motor Start motor 28 If the default register settings is not changed it is possibly to start motor by entering values in the Force Value column 29 Enter 1023 in OUT FourthEntry Torque 300 30 Enter 1000 in OUT ThirdEntry 477 RPM if MAC 140 31 Enter I in OUT FirstEntry Mode Velocity C projectsx20 POWERLINK Master POWERLINK Master apj POWERLINK Master Automation Studio V 3 0 81 18 1 5 451096 File Edit View Insert Open Project Debug Source Control Online Tools Window Help SSR EP x amp pocxessdigcosuxl autamooo g 4 an H a 47s AN P dz z 26 OR 16 at al a VM S MR X v va m 2 p Emil 8 PLCL CPU F3 POWERLINK Configuration Sg PLCLCPU IF3 ST1 VO Mapping x RPLCL CPU POWERLINI First niry OUT SecondEniry 12000 50200 UDINT OUT_ThedEnty 12000 5030 UDINT OUT FourthEntry 12000 504007 E OUT FilthEnty 12000 505014 UDINT IM FirstEntry 13000 S01 UDINT IN SecondEntry 13000 02 UDINT 17420413 b IM ThadEnir 13000 503 UDINT 63 IM FourthEntry 13000 S04 LIDINT 0 IM FilthEntry 13000 505 UDINT 16 L1 L1 CJ C1 L1 S KJ amp J TT3034GB JVL Industri Elektronik A S User Manual Ethernet ex
180. o position mode so we need to set the mode register to the value 2 Mode 2 which is position mode now the motor will use the acceleration and the velocity just configured Modbus address 4 5 register 2 16 Write multiple registers HEX slavelD fi Send 005 O 0000 Address 4 Cancel Quantity 2 Edit Open Save TT3068 01GB 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 15 Write multiple registers HEX Slave ID i 4840 UxU04C Address 2 TT3069 01GB JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 161 7 4 Examples 7 4 3 162 General considerations The register 35 in the motor holds information on the actual error status So it is crucial that this register is configured in the polled data and thereby obtained and monitored in the Master In case of an error situation the motor will stop and the cause will be present in the register 35 This register also holds information on the motion status such as In position bit 4 e Accelerating bit 5 e Decelerating bit 6 Please find a complete list of register descriptions in the appendix Motor registers MACO50 141 page 175 and Motor registers MAC400 3000 page 184 The JVL motor is basically put into a working mode and into
181. ofile can be set via object 6072h The register LI object 2012 subindex 81 is used to select the load factor when the profile is started If a different load factor is required this register must be set cor rectly Velocity mode In this mode the motor runs at a selected velocity A new velocity can be selected in ob ject Ox60FF and the motor will then accelerate decelerate to this velocity 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 Homing mode In this mode different homing sequences can be initiated The home sensor must be con nected to the AIN input on the module If end limit sensors are used during the homing sequence then the sensors should be connected to the appropriate inputs and they must be enabled via object 0x201 I sub index 11 In the MAC motors the module inputs is used In the MIS motors the registers 125 I O active level and I O type and 132 home input mask have to be correctly set up prior to use Do this setup by object 0x2012 or in Mac Talk in the I O Setup tab The torque limit used during homing is selected via object 0x2100 The unit of this object is the same as other torque objects e g object 0x6072 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 3 9 CiA DSP 402 drive profile The MACOO ECx module and MIS34xxxxECxxx supports the follow
182. on 149012 Tongue Load Zero search position Zero search velocity Y Motion parameters Pasilion 9900000 y Counks In position vindos 100 Counts Samples TORE Undarvoltage gt Sat error bit Gain passive Min voltage 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 Noname Ele Wew Motor Setup Updates Help MacTalk Version 1 50 57 ii G b a Open Save Save in flash Reset position Clear errors Reset m Main Registers Advanced Filter parameters Tests Scope MACOO EC EtherC tartup mode Y Error handling Passive Change actuel mode Max Follow Function errors Position linit min GearFollow C Analogue velocity Position limit max Brno m velocity wilh deadband Eno acceleration 17306406 Y Inputs Dur 140 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 6 5 Examples Register 2 Operating mode has to be present in BOTH the cyclic read words and cyclic write words IN MacTalk Noname File View Motor Setup Updates Help MacTalk Version 1 50 57 3 gt RS 29 lt ri 3 All Save Save in flash Reset position Clear errors Reset motor Filter setup STOP Motor scan Main Registers Advanced Filter parameters Te
183. onfigurable not used in EtherCAT MAC Media Access Controller MAC address the hardware address of the device not used in EtherCAT PDO Process Data Object for cyclic data SDO Service Data Object for acyclic data SII Slave Infirmation Interface XML eXtensible Markup Language used for the ESI file JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 3 3 2 Protocol specifications 3 2 1 EtherCAT communication The EtherCAT fieldbus system is standardised by the EtherCAT user organisation ETG The driving force behind this is the german company Beckhoff GmbH Due to the advanced Ethernet technology used for EtherCAT in the future customers change from other fieldbus systems to EtherCAT or generally equip new plant models with EtherCAT Communication on EtherCAT is based on a master slave operation The update cycle between master and slave depends on the number of EtherCAT slaves the amount of process data of the individual slaves and the set update time of the master Due to the ring topology in every bus cycle only one telegram is sent on the bus The bus cycle time thus remains exactly the same in every cycle Slave addressing can be done in two ways Auto increment addressing e Fixed node addressing With Auto increment addressing the master scans the net for slaves and the slaves are then addressed in the sequence they are physically present on the
184. onik A S User Manual Ethernet expansion modules for MAC motors 8 3 Setting up MacTalk for Ethernet Step 8 In the list presented we have added motor with the IP address 192 168 0 56 This mo tor is stepper motor so we name it Stepper to be easy recognizable We also have 140 motor in the network for this motor we have assigned the name MI 40 Thelist is added to the address bar which automatically suggest the motor when we type in the first letters of the name The motor can also be selected directly in the list Please note that both the IP address and the name is added to the list and saved The list is load ed automatically when MacTalk is started Step 9 Add a name to the list in the field next to the IP address and press Ok Now the list is saved The name entered can now be used to access the motor on the network The complete list can be cleared by pressing Clear list or a single enty can be deleted by pressing Delete When MacTalk is started this list is read and added to the address bar selections so that either the name or the IP address can be selected E MacTalk Noname File View Offline MACOO RxP Setup Updates Help MacT alk Version 1 50 43 1192 168 0 56 ge 192 168 0 58 Stepper x 140 an Registers Advanced Filter parameters Tests Scope Startup mode VY Error handling Passive Change actual mode Max Follow errors Counts C Velncitu si
185. or code Register ERR STAT ERR STAT ERR STAT ERR STAT MSB 0x10 LSB 0x01 object LSB MSB 0x1001 The EMCY object 1003h is sent as an 8 byte message and has the following structure Byte3 Byte4 Byte5 Byte6 Byte7 CANopen CANopen 8 bit error Reserved Reserved Reserved Reserved error code error code Register MSB 0x10 LSB 0x01 object 0x1001 3 4 5 Object Dictionary An important part of the CoE protocol is the Object Dictionary which is different objects specifying the data layout Each object is addressed using a 6 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 expansion modules for MAC motors 4 3 4 3 4 6 42 EtherCAT objects Mandatory objects Index Read hex Data Type only Description Contains information about the Device type Device type 1000 UNSIGNED32 device type This is the mapping error register and it is part of the emergency ob Error ject If some of the sub index are Register 1901 UNSIGNEDS high an error has occurred See also See chapter 3 4 4 Emergency Objects page 41 Mandatory 9e iY eer Mandatory fem cum ee dd wwe es meme s Commueaton Ovemn
186. osition mode using P FNC lt Sameas Synchronize position manually using Synchronize position manually using absolute new values absolute new values 0 8000 00F7 2147483895 P IST P NEW IST P NEW P SOLL P NEW P P NEW P FUNC P NEW 16 P FNC P NEW FLWERR 16 Synchronize position manually using relative new values basically offset the position range with the value of P NEW 0x8000 00F8 2147483896 P IST YP IST P NEW lt Same as P SOLL P NEW P FUNC P FUNC P NEW 16 0x800000F8 2147483897 No operation Same 0x800000FA 2147483898 No operation Sameas 0x800000FB 2147483899 No operation amp Sameas 0x800000FC 2147483900 No operation Sameas 0x800000FD 2147483901 Reserved _ Sameas 0x800000FE 2147483902 Reserved Sameas 0x800000FF 2147483903 Reserved Samoas 132 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 6 3 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 13 PROFINET objects Object Ox I The module registers is mapped to object Ox I The subindex 3 31 is RW the rest is read only Object 0x I Subindex I MAC address MSB The 2 most significant bytes of module MAC Address placed Output 16 Most significant bits of MAC address Object 0x I Sub
187. owing registers is of particular interest when position mode is used Actual position IST register 10 2 Actual velocity V IST register 12 3 Follow error The actual position error register 20 4 Motor load mean average motor load register 16 5 Error Status register 35 6 Requested position P SOLL register 3 7 Requested velocity V SOLL register 5 8 Requested acceleration A SOLL register 6 In this mode the position is controlled by applying a requested position to the P SOLL register and the actual position is monitored in the P IST register The V SOLL and A SOLL registers sets the velocity and acceleration used when positioning occurs Actual position IST value is sent back in Read Ward 1 10 Actual position this word Head Word 2 2 Actual velocity Actual velocity V IST is sent back in this word Head Word 3 20 Follow error Follow error the position error Head ward 4 L b Matar laad mean Motor load mean The mean load on the motor Head Word 5 35 Error status Error Status holds information regarding motion status and error status code if any Write Word 1 2 Operating mode Operating mode is used to enable disable the motor Write Word 2 Requested position Values Passive mode 0 Position mode 2 5 Den El Requested position Sets the SOLL value Write Word 4 6 Acceleration Velocity sets the V_SOLL requested velocity v
188. pansion modules for MAC motors 103 5 4 Ethernet POWERLINK objects 5 4 1 Process data objects PDO s Process Data Objects are used for cyclic transfer of time critical process data between master and slaves Tx PDOs are used to transfer data from the slave to the mas ter and Rx PDOs to transfer data from the master to the slave PDO 21 PDO 21 is fully user configurable There is one receive PDO and one transmit PDO It is possibly to set up five 32 bit registers in each direction The setup is done with MacTalk or via SDO object 0x201 subindex 16 31 It requires a save in flash and a power cycle before the new configuration are used If the configuration of the PDO s is not altered by the user the MACOO ELx uses the default mapping shown in the tables below 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 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 Default registers in transmit PDO 21 Slave gt Master Read words in MacTalk Object index oO e MOD RE
189. purposes 207 pp Reserved for future purposes 208 pp Reservedforfuture purposes 209 pp Reserved for future purposes pp Reserved for future purposes 21 COMMAND J pp PP 212 FIELDBUSADDR pp PP 213 FIELDBUS SPEED pp PP 214 pp Reserved for future purposes 25 Reserved for future purposes 216 pp Reserved for future purposes 217 Reserved for future purposes 218 pp Reserved for future purposes 219 pp Reserved for future purposes 220 _ Reserved for future purposes 21 pp Reserved for future purposes 222 pp Reserved for future purposes 223 pp Reserved for future purposes 224 pp Reserved for future purposes 225 pp Reserved for future purposes 226 pp Reserved for future purposes 227 Reserved for future purposes 228 pp Reserved for future purposes 229 pp Reservedifor future purposes 230 Reserved for future purposes 231 pp Reserved for future purposes sate Reserved for future purposes 288 pp Reserved for future purposes 234 pp Reserved for future purposes 235 pp Reservediforfuture purposes 296 pp Reserved for future purposes 237 pp Reserved for future purposes pp Reserved for future purposes 239 pp Reserved for future purposes 240 pp Reserved for future purposes 21 pp Reservediforfuture purposes
190. put I O data PDOs is sent from the adapter module to the EtherCAT 9 mas ter but there is no output I O data from the master to the module To communicate out put I O data the master must switch the adapter module to the Operational state State description table Init State after device initialisation No Application layer communication no SDO and PDO communication Pre operational 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 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 33 3 2 Protocol specifications 3 2 6 CANopen over EtherCAT The application layer communication protocol in EtherCAT is based on the CANopen DS 301 communication profile and is called CANopen over EtherCAT CoE The pro tocol specifies the Object Dictionary in the adapter module in addition to communica tion objects for exchanging cyclic process data and acyclic messages In addition to DS30 I and the default JVL profile the MACOO ECXx also supports the DSP402 drive profile See chapter 3 5 CIA DSP 402 drive profile page 49 The EtherCAT module uses the following message types e Process Data Object PDO The PDO is used for cyclic communication in other words process data Service Data Object SDO The SDO is used for much slower acyclic
191. r met settings data setup ddress Read Word 1 2 Operating mode Read Word 2 35 Error status Read Word 3 J No Selection auk gateway 0 0 0 Read Word 4 0 No Selection Read Word 0 No Selection n 1 net mask CAT error handling 4 Read Word 6 0 No Selection dotor set Passive mode Read Ward 7 dotor set velocity 0 Read Word 8 0 No Selechon No Selection La La La le Le la rool settings Write Word 1 Operating mode ien alias Wite Word 2 383040 General command Wie Wel 1U No Selection Ls division Wile Word 4 0 No Selaction Vite Word 5 ID No Selectict Ma Selection TT3086GB ENKI Procedure in the PLC Set up register P7 in motor to requested relative offset 2 Make sure one net cycle has passed so P7 resides in the motor 3 Issue command 0x800000F I 0x8000007 I if MIS34x in module command register register 983040 in MacTalk 4 Make sure one net cycle has passed so command is interpreted by the motor 5 Set module command register to zero This will prepare the Ethernet module for new commands 6 lf needed then monitor register 35 Error status When bit 4 is set in position then the move is finished 7 When new relative move is requested 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 118 JVL Industri E
192. r Manual Ethernet expansion modules for MAC motors 4 2 Using none cyclic messages 4 2 6 TCP IP object class OxF6 Holds information for a IEEE 802 3 communication interface Attr ID Access Name Data type Description 1 OE Interface speed DINT Speed in Mbit s 2 OE Interface status DINT Bit field a oe mcare MAG Notimplemenied f Not implemented gt e oio Interface Control See EtherNet IP spec for further details Vol2 sect 5 4 Supported Services Ox I Get Attribute All 0x10 Set Attribute Single OxE Get Attribute Single 4 2 7 Vendor specific JVL object class 0x64 Holds pre configured motor registers to be accessed Instances 255 Motor registers NN Data type Description OxE 0x10 Get Set register DINT Get Set the specified motor register Supported Services 0x10 Set Attribute Single OxE Get Attribute Single Please notice Please find complete list of register descriptions in the appen A dex Motor registers MAC050 141 page 175 and Motor registers MAC400 3000 page 184 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 67 4 2 68 Using none cyclic messages E g the motor shall be operated in velocity mode This requires that the mode register 2 Oxl Velocity mode is 0 1 Position mode 0 2 e t c All modes of operation is further described in the servo manual The explicit message is setup
193. rake Disable error handling 0 Ethernet error handling enabled Ethernet error handling disabled Clear Name of station Only applicable to Profinet protocol Enable drive profile 0 JVL drive profile CiA DSP 402 drive profile enabled Requires a save in flash and a power cycle to be activated Endless relative 0 Endless relative disabled Endless relative enabled If relative mode is selected in the control word then the actual position never changes When selecting this mode absolute positioning can no longer be used This bit only applies for DSP 402 profile Mirror registers Only applicable to ModbusTCP protocol PDO 8 registers 5 x 32 bit registers in each 8x 32 bit registers in each Requires a save in flash and a power cycle to be activated Only applicable to JVL profile not DSP 402 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 45 3 4 EtherCAT objects 3 4 12 Object 0x2011 Subindex 7 Digital outputs on module With this object the digital outputs can be controlled The value written to this object is directly shown on the digital outputs Output2 Output1 O2 O1 Reserved availability of the outputs depends on the actual version of the module used MACOO ECA only support Output I Ol MAC00 EC41 supports both output I 2 Ol and O2 3 4 13 Object Ox2011 Subindex 8 Poll division factor Wit
194. ram eterisation data or transfer of IP based protocols like TCP or UDP The Idle phase can be 0 It s possibly for the MN to multiplex the time slots in the isochronous phase in or der to service some CN s more often than others During system start up the MN applies a reduced POWERLINK cycle without the isochronous phase in order to configure the CNs with SDO communication For further information please refer to the Ethernet POWERLINK communication pro file specification EPSG DS 301 V 1 1 0 Ol pdf available at the EPSG website http www ethernet powerlink org Managing Node PReq PReq PRes to CN 2 to CNn from M PRes PRes PRes Async from CN 1 from CN 2 from CN n send Controlled Node Start of Cyclic PRes Poll Responce Sent from MN multi cast to all Controlled Nodes from MN Sent from MN multi cast to all nodes Idle Phase PReq Poll Request Start of Acyclic to CNn Sent from MN uni cast to each Controlled Node Sent from MN multi cast to all Controlled Nodes PRes Poll Responce Async Async data from CN 1 Sent from multi cast to all nodes send Sent by any CN invited by Managing Node TT3035GB JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 97 5 2 5 2 2 9 2 3 98 Protocol specifications Ethernet POWERLINK frame structure POWERLINK messages are encapsulated in Ethernet II frames The length of the frame is rest
195. re that all 4M ACOO Ex4 involved units are connected to the same Zero search switch or Ex41 potential AINT analogue input Power supply v GND ground 10 32VDC m AIN2 MACO0 Ex41 TT3012 02GB Note Do not apply voltages higher than 32V to the analogue input AIN 2 2 4 Using the analogue input 1 and 2 AIN1 and 2 When a MACOO Ex4 or MACOO Ex4 module is mounted in the MAC motor the ana logue input s is available in the same manner as in the basic motor itself The analogue input s can be used for several applications and the function of the ana logue input is determined by the mode in which the motor is set to operate Typically the input s is used for controlling the velocity torque or position of the motor but the input is also used as digital input for zero search or in Air Cylinder Mode where it is used as trigger input for the movement done by the motor For further information concerning physical connections see the Expansion module MACOO Ex4 basis version connector description page 20 Please notice that analogue input 2 AIN2 is only availabel at MACOO Ex41 18 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 2 1 Module types 2 2 5 RS232 General description The RS232 interface is consid ered the main interface to the RS232 connection between a PC or central controller motor when the motor is set to
196. ricted to the configured size in order to guarantee the cycle time Ethernet frames have a minimum length of 64 bytes and a maximum of 1518 exclusive preamble The Ethernet POWERLINK header contains only 3 bytes Message type destination ID and Source ID That leaves up to 1497 bytes of payload POWERLINK header 43 1497 bytes 8 bytes 14 bytes 1 byte 1 byte 1 byte 4 bytes TT3036GB Ethernet POWERLINK CN State machine In Ethernet POWERLINK a Controlled Node starts up by a common initialization pro cess All the states are valid when the device is powered and they are sub states of the GS POWERED superstate NMT_GS_INITIALISATION After system start the device automatically assumes this state and network function ality begins NMT GS INITIALISATION and all its sub states are only internal states of the device 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 MACOO ELx is a CN and thus it enters the NMT CN state machine in the NMT GS COMMUNICATING super state NMT GS COMMUNICATING NMT CS NOT ACTIVE This is a none permanent state that allows a starting node to recognize the cur rent network state Time out for SoC PReq PRes and SoA frames trigger the device to enter state NMT CS BASIC ETHERNET The NMT CS PREOPERATIONAL 1 Transition from NMT CS NOT ACTIVE to CS PRE OPERATIONAL is
197. rminal Black I Main supply ground Connect with pin 3 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 IT Continued next page 22 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 2 3 Connector description MACOO Ex41 continued I O and interface M12 17pin female connector JVL Cable Isolation WI1009M12 group Signal name Description M17TxxN see note ae Ground intended to be used toghether with the e e hoo GND other signals related to isolation group 1 in this 2 Blue 1 connector n4 input channel 4 Gan be used as digiainput 6 RS485 Multifunction I O terminal B2 Output 1 and 2 supply input DO NOT connect gt 30V to this terminal igi Analog input 1 AINT Can be used as analog input 10V White Green 1 Analog input 2 Can be used as analog input 10V 1 RS232 interface Receive terminal Leave open if unused Ground for IN1 4 and O1 and 2 Please notice that this terminal is normally isolated from the Yellow brown 2 main ground and belongs to isolation group 2 RS232 interface Transmit terminal Leave open if unused L A IN Ethernet port connector M12 4pin female connector coded JVL Cable Isolation WI1046 group Description M1
198. rtup 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 NY MacTalk Noname Ele View Motor Setup Updates Help MacTalk Version 1 50 57 G b 9 5 Save in flash Reset position Clear errors Reset m Main Registers Advanced Filter parameters Tests Scope MACOO EC Ethet tartup mode Y Eror handling C Passiva Change actuel mode Max Follow Veloa Max Function errors e Position linit min GearFollow Analogue velocity Position limit max Brno m velocity wilh deadband Enron acceleration TT3084GB Y Inputs Qutr 90 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 4 8 Examples Register 2 Operating mode has to be present in BOTH the cyclic read words and cyclic write words IN MacTalk Noname File View Motor Setup Updates Help MacTalk Version 1 50 57 3 gt RS 29 lt ri 3 All Save Save in flash Reset position Clear errors Reset motor Filter setup STOP Motor scan Main Registers Advanced Filter parameters Tests Scope MACOO EC EtherCAT Status Setup Motor status Actual mode Position Coeli dala salup E Actual velocity 116 Bead Word 1 2 Operating mode Actual position 8962210 acl Follow error Ethernet settings IP address 19
199. rwise you need to ask your network administrator for the appropriate IP settings 7 Obtain an IP address automatically Use the following IP address IP address 192 168 Subnet mask 255 255 Default gateway a ae Obtain DNS server address automatically Use the following DNS server addresses Preferred DNS server Alternate DNS server F Validate settings upon exit TT3073 01GB The above example is a basic settings that sets the IP address on the PC to 192 168 0 59 subnet mask to 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 166 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 8 3 Setting up MacTalk for Ethernet 8 3 1 Setting up MacTalk for Ethernet communication When MacTalk is opened the first time it is by default configured for running serial RS232 RS485 connection To change this please find the address box next to the COM scan in the upper tool bar and change it from All to Eth Step I Select ETH as shown below 3 STOP All Filter setup COM scan TT3074 01GB Step 2 After changing the the Address box the IP address input field appears The IP address field is now shown Gs E b rij 3 gt STOP RS ETH Open Filter setup TT3075 01GB Step 3 Now MacTalk is ready to connect to the
200. s the S profile so the normal A_SOLL is used Values 1 8 can be used to select a progressively smoother S profile with 8 being the smoothest and slowest The value of S ORDER may not be changed unless the motor is in Passive mode MODE_REG 0 157 OUTLOOPDIV not Na Word Divider value for the velocity loop With the standard value of 1 present 0 RW the velocity loop is recalculated every 1 3 ms With a value of 2 the loop is recalculated every 2 6 ms which can give better performance for slow movements and or large inertia It is absolutely necessary to use a different set of filters in Regs121 142 when changing this value To change this value from MacTalk and gain access to the extended filters open the Filter Setup window then hold down both the Control and Shift keys and double click on the text More to the left of the Stability slider at the green end After entering the correct password Sample Frequency can be selected and 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 TIL512GB 196 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 9 3 Motor registers MAC400 3000 mme 000 MacReglo Name Name Default Access 158 SAMPLE1 not Na Word SAMPLE1 4 controls the
201. scope sample function present 0 RW mr ND Register number bit field and min max average sample type for the first value in each sample pum jme Eo RU m present 0 RW type for the second value in each sample 160 SAMPLE3 not Na Word Register number bit field and min max average sample 0 ME o Law ipo ior me tra valuen sacn sameie oos oae 161 SAMPLE4 not Word Register number bit field and min max average sample BEY emo So awo ipe ior ie our valuen sach sample 162 REC_CNT not Word Index into the sample buffer used for scope functionality present RW The length of the sample buffer and thus the range of this parameter if determined by bit 23 SBUF 2048 in Reg39 HW SETUP See document section YY for further information on the sample system Id GEN EXT not bli Unscaled Raw velocity of external encoder input in pulses Ge per 1 3ms hd hes not Nal ward Velocity of external encoder input V_EXT after being present 0 R scaled by the ratio GEARF1 GEARF2 165 G FNC not Na Word present 0 R n emm je present 0 R 167 FF OUT not Na Word present 0 R 168 VB OUT not a present 169 VF_OUT Actual Nay ime torque RW mmm eme f present RW 171 ANINP OFFSET not TY Word present 0 RW 172 ELDEG OFFSET not Na Word used with motor current loop present 0 R PHASE COMP Pre used with motor current loop present 0 R 174 AMPL
202. se time critical data is transferred while the asynchronous phase provides bandwidth for the transmission of data that is not time critical The Managing Node MN grants access to the physical medium via dedicated poll request messages As a result only one Con trolled Node CN has access to the network at a time and thus no collisions occur Ethernet POWERLINK applies the same protocol technology as CANopen It defines SDOs Service Data Objects PDOs Process Data Objects and the Object Dictionary structure to manage the parameters For general technical data please see MACOO EL4 EL4 Powerlink Technical specifica tions page 173 4 Legacy ethernet EPL Router Gateway CN Ethernet hub TT3033GB JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 95 5 1 5 1 2 96 Introduction to POWERLINK Abbreviations Following general used terms are useful to know before reading the following chapters O0Base Tx 100 MBit Ethernet on twisted pairs ASnd CAN MacTalk MN NAT NMT PDO PReq PRes SCNM SDO SoA SoC TCP UDP XDD XML Asynchronous Send POWERLINK frame type Controller Area Network Application layer protocol used in automation Controlled Node sl
203. select Install general station description file GSD 10 In the Install general station description file window find and select the GSDML V2 2 JVL MACOO EPX yyyymmdd xml file and click Install Follow the on screen instructions Siemens IVL rev9 Project Edit View Insert Onlin Options Tools Window Help 4 Save project m EG Settings Support packages Install general station description file GSD E Show reference text LUO Global libraries VL rev9 Bi Add new device gh Devices amp networks TT3050 01GB PLC configuration 12 Create a new project in TIA Portal vI I for your PLC or open an existing project See Siemens documentation for more information 13 Inthe Hardware catalog under Other field devices PROFINET I O I O JVL Industri Elektronik A S PNS should MACOO EPx reside See figure at next page JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 125 6 2 Commissioning m X Totally Integrated Automation PORTAL Catalog m Filter pg Field devices boje3e v gj Other field devices v ig PROFINET IO k ffi Drives p E Gateway T mg v 9j VL Industri Elektronik 4 5 9 PMS met 50 REIPNS w3 ET 50 REIFNS T wacoc erx k 9g Ident Systems m Sensors gt gg PROFIBLIS DP 51004 auiur TT3051 01GB 14 Drag and drop the MACOO EPx to the Ne
204. sition mode is used Actual position P IST register 10 Actual velocity V IST register 12 Follow error The actual position error register 20 Motor load mean average motor load register 16 Error Status register 35 Requested position P SOLL register 3 Requested velocity V SOLL register 5 Requested acceleration A SOLL register 6 ONRUAUWN In this mode the position is controlled by applying a requested position to the P SOLL register and the actual position is monitored in the P IST register The V SOLL and A SOLL registers sets the velocity and acceleration used when the positioning occurs Cyclic data set gele data setup Actual position P IST value is sent back in this word Head ward 1 10 Actual position Head Word 2 L 2 Actual velocity Head Word 3 20 Follow error Head Word 4 L b Motor load mean Head Word 5 35 Error status Actual velocity V IST is sent back in this word Follow error the position error Motor load mean The mean load on the motor Error Status holds information regarding motion status and error status code if any Write Mord 1 2 Operating mode Write Word 2 E Requested position Write Word 3 5 Velocity Write Word 4 Acceleration Write Word 5 0 Ma Selection Operating mode is used to enable disable the motor Values Passive mode 0 Position mode 2 Requested position Sets the P SOLL value V
205. situations it is necessary to interpret them as 16 bit to get the sign correct Firmware MacReglo MacTalk Range Size Description Name Name Default Access o INA ____ O Dummy register do not use PROG VERSION Displayed on Firmware version number bottom right status line MODE REG Startup mode The actual operating mode of the drive Change actual mode In general the motor will either be passive attempt to reach a certain position attempt to maintain a constant velocity or attempt to produce a constant torque The various modes define the main type of operation as well as what determines the setpoint for that operation The special cases 256 258 are used to perform a few special operations on the entire set of registers Supported values are 0 Passive mode The axis is not controlled by the drive and can easily be moved by hand or external mechanics Velocity mode The drive will attempt to run the motor at a constant velocity selected by Reg5 V SOLL without violating the maximum torque or acceleration Position mode The drive will at all times attempt to move the actual motor position to the position selected by Reg3 P SOLL without violating the maximum velocity torque or acceleration Gear Position mode Analogue torque mode Analogue velocity mode Analog Velocity Gear mode Manual current mode Step response test mode Internal test mode Brake mode Stop mod
206. st be multiplied by two so to read or write register 3 P SOLL use the address 6 Thereby enabling transfer of one 32 bit register as two 16 bit registers where the least significant 16 bit register is transmitted first see exam ples It is possibly to access both motor registers and Modbus TCP module registers Motor registers is accessed by addressing register 0x00 0x FE for motor register 0 255 and module registers is accessed by addressing 0x8000 0x807E for module register 0 64 The Modbus TCP extension includes 7 additional bytes to the original Modbus protocol which allows for transport over the TCP IP layers the MBAP header So the frame for mat looks like this excluding TCP IP header MBAP Header Function Code Data The MBAP Header ModBus Application Protocol Header consists of 7 bytes of infor mation Identification of Request Response transaction Transaction Identifier 2 bytes copied from request to response Protocol Identifier 2 bytes 0 Modbus protocol number of following bytes includes the unit identifier Unit Identifier 1 byte identification of remote slave Length 2 bytes Function codes The MACOO EMx Modbus TCP module supports two function codes Read holding registers 0x10 Write multiple registers only 2 x 16bit registers 1 x 32 bit register JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 147 7 2
207. stic Communication via Legacy Ethernet Service Data Object for acyclic data Start of Asynchronous POWERLINK frame type Start of Cyclic POWERLINK frame type Transfer Control Protocol an IP based protocol used widely on the inter net 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 expansion modules for MAC motors 9 2 9 2 1 Protocol specifications Ethernet Powerlink communication In an Ethernet POWERLINK network one of the nodes for example a PLC is designat ed to function as the MN the master in the network All other devices operate as CNs slaves in the network The MN defines the clock pulse for the synchronization of all de vices and manages the data communication cycle In the course of one clock cycle within which all nodes are addressed the MN sends Poll Requests PReq to all CNs one after another They reply immediately to the prompts with Poll Responses PRes The following time phases exist within one cycle Isochronous phase Asynchronous phase Idle phase The MN first sends a Start of Cycle Frame SoC signal to all CNs to synchronize the de vices Payload data exchange then proceeds in the isochronous phase The asynchronous phase allows the transfer of large packets that are not time critical for example pa
208. sts Scope MACOO EC EtherCAT Status Setup Motor status Actual mode Position Coeli dala salup E Actual velocity 116 Bead Word 1 2 Operating mode Actual position 8962210 acl Follow error Ethernet settings IP address 192 168 0 53 Default gateway 0 0 0 0 Subnetmask 255 255 255 0 Read Word Z TU ermat posit Read Word 3 12 Actual velocity EtherCAT error handling Read Word 4 16 Motor load mean Read Word 5 35 Error status Read Word 6 0 No Selection Function error Actual motor torque Motor load mean Regenerative load Inputs 4 44 44141 4 Supply voltage Analogue input Errors Motor set Passive mode Read Word 7 0 No Selection Read Word 8 0 No Selection C Write Word 1 2 Operating mode Write Word Hequested postiar 0 Poll division 0 Write Word 3 5 Velocity Motor set velocity 0 Protocol settings Station alias Write Word 4 6 Acceleration Write Word 5 0 No Selection Write Word B 0 No Selection Write Word 7 0 No Selection Write Word 8 0 No Selection _ Status ModbusTEP timeout 100 ms Enable DSP402 drive profile Status ydeismmig Firmware Version V3 22 Build 470 Hardware Version V 2 00 MAC 00 50 C2 DO FF FF Serialnumber 11111 Clear Log Apply and save TT30856B MAC140 Version 9 01 5N 86855 M
209. sure of how far the drive is from its ideal 0 RW counts regulation goal This value is calculated differently in the various modes and can mean things like pulses from theoretical position or difference in actual velocity to V SOLL Contact JVL for more detailed information for specific modes Oi 0 R FLWERRMAX Na Word Encoder When Reg20 FLWERR exceeds this limit bit 1 0 counts FLW ERR in Reg35 ERR STAT is set and the motor will stop if Reg22 is non zero Usually this value is set experimentally to detect situations where a movement is blocked or fails UV HANDLE Set Na Word Bits to determine what will happen when the main error bit O supply voltage to the motor is below the threshold for Go to motor operation Any combination of the following bits passive can be set Set Bit 0 Set bit 9 UV ERR in Reg35 ERR STAT velocity Bit 1 Perform a controlled stop then go passive to 0 Bit 2 Set V SOLL to zero do not ive FNCERR not Na Word Encoder Shows how much the motor is behind the ideal present 0 counts movement precise operation depends on mode When this accumulated value exceeds Reg26 FNCERRMAX the FNC ERR bit is set in Reg35 ERR STAT and the motor will stop P IST TURNTAB not Na ord Displays the actual position like P IST but is offset by present 0 N times the rotary table working range so P IST TURNTAB is always between MIN P IST and MAX P IST Used mainly with the Rotary table optio
210. switch after the master and then distrib ute data to each node from this switch This solution has minimal delay of the data stream JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 63 4 1 4 1 3 64 Introduction to EthernetiP EthernetlP specification The JVL implementation supports manufacturer specific objects to gain access to each register in the motor Supported standard EthernetlP classes Message router object class TCP IP interface object class Ethernet link object class On top of this the JVL manufacture specific class object 0x64 has been added 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 Assembly object class 0x04 Object that binds all IO data to a connection point TCP IP interface object class OxF5 Holds all information on the Ethernet connection such as the IP address Network mask and GateWay Ethernet link object class OxF6 Holds information on link specific counters and instances associated with the communi cation interface To gain access to the motor registers Class object 0x64 is used See section Objects accessible using Explicit messages for further details see Examples page 87
211. t thereby enabling easy change of the relative distance to move 92 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 9 MACOO EL4 EL41 POWERLINK module JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 93 5 1 Introduction to POWERLINK Expansion module MAC00 EL4 front plate Pl 54 53022 00 50 C2 DO CO 7A _ TT3044GB 5 1 1 Introduction Ethernet Powerlink EPL is a proven technology working in real applications world wide It embraces standard Ethernet technology and infrastructure uses standard CAT5 shielded cabling and does not compromise standard Ethernet frames in order to achieve its results Ethernet Powerlink is a truly open technology independently managed by the Ethernet Powerlink Standardization Group http www ethernet powerlink org 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 94 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 5 1 Introduction to POWERLINK Unlike standard Ethernet the Slot Communication Network Management SCNM en sures that only one node is accessing the network at a time The schedule is divided into an isochronous phase and an asynchronous phase During the isochronous pha
212. ted position if operating mode 2 position Please find a complete list of register descriptions in the appendix Motor registers MAC050 141 page 175 and Motor registers MAC400 3000 page 184 originally derive from 16 bit in the case of MACO50 141 In those situations it f Please notice Even though all registers is transmitted as 32 bit some of them is necessary to interpret them as 16 bit to get the sign correct 4 3 2 Minimum cycle time The minimum cycle time is the minimum amount of time between each cyclic request on the Ethernet If operating with values lower than those listed data loss will occur No of motor registers transmitted Motor series Motor series 3 8m i13m The minimum cycle times is only valid if not sending any acyclic requests while in any operating mode 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 E i 4 em SS 44 2 2 3 4 4 5 5 6 6 7 7 8 8 Restrained by the EthernetIP protocol it self 70 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 4 3 Using cyclic O messages 4 3 3 Cyclic data in the PLC The complete list of Controller tags defined L23E QB1 19 11 Controller Tags Servol controller Window Help al 4 amp 4 t V ajal Select a Language nas
213. thernet POWERLINK objects Manufacturer specific objects The manufacturer specific objects provides access to all module registers and all motor registers as well as module command object Index Read mE pm Em Description Module Module command vg See possi CNET HAM High 16 bit of MAC address placed UNSIGNED32 m Pf Low 32 bit of address IP address Node ID The least sig 4 unsianebs X 2582582080 Netmask Unsianeber X 792 168 100 254 Gateway unsenebe Setup bis 7 9 Digia opus on moas Jam UNSeNED Resewedfor ueuse s UNSeNED Oommedmgse ee er oodd pos verner eon eae eos 7 ow pee fjerne PE UNSIGNED32 REED RI Reserved for future use En UNSIGNEDa2 Reserved for future use ne a UNSIGNED32 _ Reserved for future use me ro lee qs wseD 58 ree to place in RxPDO 21 Jfr 7d ps mee fag vern f 29 unsieneose Reserved for future use 1 ya ueNes ResevedforfMueue 32 funsieneose X seriaro 84 UNSIGNED32 X Module software version software Module software version es ee EE ee No of retry frames to motor of No of retry frames to motor frames to motor Ne of disc
214. this tag 2 Enable 42 Enable Waiting Start ap Done Dane Length 4 C3 Error Code Extended Error Code Timed Out Error Path Error Text Annuller Anvend Hj lp Please notice the mixed decimal and hexadecimal notation used TT3025GB 88 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 4 8 Examples Message 2 and 3 Msg2 Msg3 are writing values to specific registers in the motor They are configured in the following way Writes SET ATTRIBUTE SINGLE the value from the MODE tag into the motor reg ister 2 Operation mode Message Configuration Msgz Configuration Communication Tag Message Type SEICE Set Attribute Single Type Service i Pade 1 Hex Class 64 Hex Register 2 actual mode Enable 5 Enable Waiting 3 Start O Error Code Extended Error Code Error Path Error T est Source Element Source Length Pestnahon Mew Tag 4 byte tag value to write in register 2 mode register a Done Done Length 0 Timed Out Annuller Anvend Hj lp Tt3026GB Please notice the mixed decimal and hexadecimal notation used Explicit messages are always 4 bytes long and uses Class 0x64 to access the internal mo tor registers The instance refers to the actual motor register Instance 2 points to the motor active mode register Explicit messages are typical used for
215. tion Values Passive mode 0 Position mode 2 5 Den El Requested position Sets the SOLL value Write Word 4 6 Acceleration Velocity sets the V_SOLL requested velocity value Write Word 5 D No Selection gl The resolution is 100 RPM 277 counts sample Acceleration requested acceleration Not used Any register can be inserted here 5 7 3 General considerations The register 35 in the motor holds information on the actual error status So it is crucial that this register is configured in the cyclic data and thereby obtained and monitored in the Master In case of an error situation the motor will stop and the cause will be present in the register 35 and hence in the I O data This register also holds information on the motion status such as e n position bit 4 e Accelerating bit 5 e Decelerating bit 6 Please find a complete list of register descriptions in the appendix Motor registers MAC050 141 page 175 and Motor registers MAC400 3000 page 84 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 Example Velocity mode 2 Position mode etc So in order to Stop or Start the motor this register can be supported in the I O data or by sending an SDO message JVL Industri Elektronik A S User Manual Ethernet expansion modules for M
216. tion 2 Cnt s 2 543 RPM s 7 Torque 512 512 150 0 No Selection value is not updated JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 4 4 Commissioning 4 4 1 Necessary equipment To get started you will need the following equipment A MAC motor with EthernetlP module MACO00 EI A PLC or master controller with EthernetIP interface and relevant software A PC installed with MacTalk software in order to setup the MAC motor Relevant signal and low voltage cables such as Ethernet cable 24V power ca ble RS232 Please also see the section Cable accessories page 24 A 24VDC supply able to deliver min OOOmMA 24V Concerning AC high voltage supply for the MAC motor please refer to the general MAC motor user manual LB0047 xx The general MAC motor user manual can be downloaded from http www jvl dk JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 73 4 4 Commissioning 4 4 2 Indicator LED s description The LED s are used for indicating states and faults of module There is one power LED two link activity LED s one for each Ethernet connector and 2 status LED s Indicator and label overview General status indicator E Error indicator Power indicator Line activity indicator Line activity indicator 00 50 C2 DO C0 7A TT3043GB address Hardware serial number LED indicator descriptions
217. tion dotor set Passive mode Read Ward 7 dotor set velocity 0 Read Word 8 0 No Selechon No Selection La La La le Le la rool settings Write Word 1 Operating mode ien alias Wite Word 2 383040 General command Wie Wel 1U No Selection Ls division Wile Word 4 0 No Selaction Vite Word 5 ID No Selectict Ma Selection TT3086GB ENKI Procedure in the PLC Set up register P7 in motor to requested relative offset 2 Make sure one net cycle has passed so P7 resides in the motor 3 Issue command 0x800000F I 0x8000007 I if MIS34x in module command register register 983040 in MacTalk 4 Make sure one net cycle has passed so command is interpreted by the motor 5 Set module command register to zero This will prepare the Ethernet module for new commands 6 lf needed then monitor register 35 Error status When bit 4 is set in position then the move is finished 7 When new relative move is requested 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 60 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 4 MACOO EI4 E141 EthernetIPE module JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 6 4 1 4 1 1 62 Introduction to EthernetiIP Expansion module MAC00 EI4 front plate PM
218. to setup the module for different new protocol Step I Determine which Ethernet protocol you want to use Have in mind that your Ethernet module MACOO Ex4 may already be setup for protocol Step 2 As shown the module is setup as a MACOO EL module with the Ethernet Powerlink protocol Choose the Update Firmware in the Updates menu to setup the module with another protocol Step 3 Make sure that the checkbox Show all files is checked Select the desired firmware such as EtherNet IP Note that there may exist more than one version Choose the newest version Press Start to download the selected firmware The status counter will now rise from O to 10096 Step 4 When the download process is finished the status shows Done Also Current version has changed to the actual downloaded version meaning that the firmware in the module is now changed permanently Step 5 The module tab has now changed from MACOO EL to MACOO EI EthernetIP Step 6 The firmware version MAC address etc can be monitored on the module tab TV Noname Main Registers Advanced neces Tests RE ees v Select fimweare e Show all Hes Wersion Hardware 4 I 5MCB5 himware 1 04 5SMLCES MIS 34x 5MCB5 frmsane 1 02 SMCES MIS 3 49 SMCSS frmware 1 01 SMCES MIS 34x MACOU EI EtheiketlP 200 MACID E MACOD ELs Peer 1 68 Cx E Bec CA
219. tor registers transmitted in each direction ams rams The minimum cycle times is only valid if not sending any acyclic requests while in any operating mode 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 Changing cycle time in TIA Portal VI I In the TIA Portal VI I the cycle time is set up in the properties of each device under Real time settings IO Cycle Please see the picture below It is done a similar way in Step7 but this is not shown TA Siemens JVL PN ex1 Eda yiew Insert Online Opuonps Tool Window fond Totally Integrated Auta A X m K m cu WB m 3 Goonine Devices P Topology vies Network vie n Device view Options oo 0 E f i 100 v Catalog er lt Searcn d neos device A riter jevices amp networks ane gi PLC_1 0415 8 CPU LL a BY conhiguramon TA IgM 5 registers input c Output modules 5 Fegisters Output Online amp diagnostic LI SS Program blocks p ij Technology objects LI Extemal source t le p a PLC tags p DE PLC data types vatch and force tables 14 Program inf PLC alm Device overview Text hets vi Module v fll Local modules m _1 1151 8 FDP cru B Dismibuted VO Xa PROFINET IO 5ystem 100 m agp i
220. tors 6 2 Commissioning TM Siemens Projects rojet Edie view Insert Gnline Opens Too Window Help Totally Integrated Automation AUR save BM 7X 2 le DE BG G6 oonline g caine DIR 3 PORTAL CPU Distributed VO PROFINET 10 System 100 PRE 1 ES E Hardware catalog Devices Topology view E Hetwork wiew Device view Optlans zk de Ea 7 a rj ie Catalog 7 Propecta m esearch i 1 m 1 E dd new de Aes m Iker ils Dewees amp networks kg PLC 1 181 8 CPU gj Other held devices k fad Commen data k E udemanal Erhernet dewices k Decurmentati n settings anf FROGFINET 1 k Languages amp resources r gi Drives yg Online access TE SIMEATK Card Reade i E EE nd NL Indusen Elektraniik AGS rs gj Head module gt vet so rms w a ver so REIS y Device overview cover baeqe 7 Lal soon Medule Rack 5 Gaddre vg Module MACHER 2042 MA COO EP k i x 4 KLE St PP k E r s t a 3 Register Ouiput_t o 156 275 Regatas Output Registers Input I Ei 5 fegisrers Inpart Information Device TT3053 01GB 19 It should now be possible to make a PLC application using cyclic communication to the 5 registers input
221. triggered by a SoA or SoC frame being re ceived In this state CN may send a frame only if the MIN has authorized it to do so by a SoA command There is no PDO communication in this state Receiving a SoC frame triggers the transition from NMT CS PREOPERATIONAL I to NMT CS PREOPERATIONAL 2 The NMT CS PREOPERATIONAL 2 In this state PReq and PRes data may be invalid because PDO mappings may dif fer In NMT CS EPL MODE error recognition for example loss of SoC or PReq always triggers the transition to CS PREOPERATIONAL The NMT CS READY TO OPERATE In this state the CN signals that it is ready to operate to the MN It responds to the PReq query of the MIN by sending a PRes frame The NMT CS OPERATIONAL NMT Start Node command triggers the transition from NMT CS READY TO OPERATE to the NMT CS OPERATIONAL This is the normal operating state of the CN JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 5 2 Protocol specifications The NMT CS STOPPED This state is used for controlled shutdown of a selected CN while the system is still running In this state the CN does not participate in cyclic frame exchange but it still observes SoA frames NMT GS INITIALISATION NMT CS NMT CN State Machine Y a NMT CS V NOT ACTIVE NMT CS EPL MODE Error condition NMTCS gt PRE OPERATIONAL 2d e NMT CS B READY TO OPERATE
222. ts 15 8 must be in the range 1 8 to select POS1 POS8 for source registers to copy into P SOLL When the value of bits 3 0 equals 7 the values of bits 23 16 and 15 8 hold the full register numbers in the range 1 254 For more advanced use any of the source register or index values can be set to zero which means DoNothing This effectively means that in one of the Input States a source register will be copied to the target register while in the other Input State no copying will happen so the target register will not be modified by the digital input The 12 HWI functions are executed every 1 3 ms in the order from HWIO to HWI11 NO other operations happen in between regardless of communications and other parallel operations It is therefore safe to rely on stable register values and consistent digital input values during the execution of the 12 HWI functions This implies that HWI function with higher numbers have higher priority because they are executed later and that it is safe to change the same target register several times during the HWI evaluation Note that each of the HWI function can use any of the digital inputs and that more than one HWI function can use the same digital input A typical HWI application is Jogging where two pushbuttons connected to two separate digital inputs are used to move the motor position manually This can be realized with a HWI setup like HWIO uses Digital Input 1 ON gt MODE REG 1 velocity mode
223. ts needs to be met It is absolutely mandatory that every switch device or other device acting as switch complies with the Profinet RT protocol LLDP and PN PTCP frames must be recognized Otherwise the net might very well get congested because non Profinet conforming switches will broadcast messages not intended for broadcast Besides the Port mirroring function for network analyzing and troubleshooting purposes can be advantages This feature makes it possible to route traffic out on separate port connected to network analyser for debugging purposes and general performance mon itoring The JVL MACOO EPx module has build in 2 port switch useful if a limited amount of mo tors is connected in daisy chaining topology This switch is Profinet IRT capable and will of cause obey the above mentioned demands JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 137 6 5 Examples 6 5 1 Running Velocity control To use the JVL motor in velocity mode the following registers basically is of interest Mode mode register register 2 V SOLL velocity register 5 A SOLL acceleration register 6 Error Status register 35 AWN So to control these registers the assembly object needs to be configured From MacTalk the setup is configured as this Cyclic data setup The actual velocity istransferred in the 1 word Read Word 1 2 Actual velocity Read Word 2 35 Error status The
224. twork topology Line Star Tree Ring line recommended Pass through delay lt lus Supported Protocols SDO client and server side protocol CoE Emergency messages CoE stack Max 100 m cable between slaves Maximum number of slaves 65535 Connectors PWR power MI2 connector Spin male I O MI2 connector 8pin female IN and L A OUT Ethernet MI2 connector 4pin D coded female Supply voltage CV 12 48VDC Nominal absolute max 50V Current rating 24V DC CV typical 50mA max 250mA User inputs Input impedance 4 7k Input current 24V 5 mA Digital output current HW rev Up to 1 2 0 Digital output current HW rev from 1 3 5 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 9 1 9 1 3 9 1 4 Technical Data MACOO EL4 EL41 Powerlink Technical specifications Galvanic isolated OOMBit half duplex 100Base Tx no termination necessary Network topology Line and tree possibly line recommended Pass through delay lt 0 5us Acyclic data tramsfer SDO Upload Download Functions SDO over ASND and UDP Ethernet Powerlink version V2 Max 100 m cable between slaves Maximum number of slaves CN s per segment 239 Connectors PWR power M12 connector Spin male MI2 connector 8pin female LIA IN and L A OUT Ethernet M12 connector 4pin D coded female Supply voltage CV 12 48VDC Nominal absolute max 50V Current rat
225. twork view 15 Also add your PLC to the Network view see also Siemens documentation for further info 16 If using external switches then these must be added too see Siemens documenta tion for further info If not continue to the next step 7 Connect the two devices by dragging a line between the small green boxes in each device and it should now look like below Siemens Project4 Project Edit View Insert Online Options Tools Window Help E REG Save project 2 X EE Us x m Fm m fu u rm g Go online Go offline A rg x il Project4 Devices amp networks ED Devices m Topology view ES Network view m Device view Qo E gx network 3 Connections HMI connection S ds Project4 li Add new device MACOO EPx D IM151 8 PN DP MACOO EPx PLC 1 sh Devices amp networks gt gi PLC 1 li 151 8 PN DP CPU ad Common data gt E Documentation settings DB Languages amp resources m Online access gt 8 SIMATIC Card Reader TT3052 01GB Associating with the cyclic data 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 MACOO EPx See illustration next page 126 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC mo
226. ty and position regulator SUPA E E loops These values should be loaded only from MacTalk and not 133 KVFY5 mol Na Word modified by the user since this can have dangerous effects S o 134 KVFY4 not Na Word present 0 RW 135 KVFY3 not Na Word present 0 RW oe present 0 RW present 0 RW 138 KVFY not Na Word present 0 RW 139 KVB4 not Na Word present 0 RW iow present 0 RW 141 KVB2 not Na Word present 0 RW 142 KVB1 not Na Word present 0 RW 143 KVBO not Na Word present 0 RW m jme for present 0 R 145 KIFX1 not Na Word present 0 R PM LEON EE Filter coefficients used by the current loop for low level control f the phase currents These values are fixed and should not be zem de 0 JJ ord pm jme present E present 0 S D TILS11GB JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 195 3 Motor registers MAC400 3000 Firmware MacTalk Range Size Description MacReglo Name Default Access Name present present present present present 156 S ORDER not Na Word An S profile can be used to modify smooth the acceleration at the present 0 RW beginning and end of a change in velocity This is useful to prevent overshoot The value of zero disable
227. ual Ethernet expansion modules for MAC motors 5 6 XML Device Description File XML Device Description Files XDD are XML files that specify the properties of the slave device for the 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 expansion modules for MAC motors 113 5 7 Examples 5 7 1 Running Velocity control To use the JVL motor in velocity mode the following registers are basically of interest Mode Mode register register 2 V SOLL Velocity register 5 A SOLL Acceleration register 6 Error Status Error and status register 35 JUN So to control these registers the cyclic data needs to configured From MacTalk the setup is configured as this Cycle data setup Head ward 1 f 2 Actual velocity The actual velocity is transferred in the 1 word Read Word 2 1 Actual position Head ord 3 1 96 Bus voltage Head ard 4 1 Actual torque Head Word 5 35 Error status 4 The 5 word holds the data from the error status register This data is a bitfield structure holding both motion related information and present error type KJENNE The operation mode is set in the 1 Word 0 passive mode and 1 Velocity mode Use passive mode to stop the motor and velocity mode to start the
228. ual position Read Word 2 12 Actual velocity Read Word 3 20 Follow error Head Word 4 15 Motor load mean Read Word 5 35 Error status Here the actual position is transfered in the 1 word of data bs be Le Le 4 Write Word 1 2 Operating mode The operation mode is written in the motor Write Word 2 6 Acceleration Write Word 3 5 Velocity White Word 4 7 Torque Write Word 5 3 Requested position le Ls lele 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 The actual motor position Motor register 12 Actual velocity The actual velocity of the motor Motor register 20 Follow error The actual follow error in the motor movement Motor register 16 Motor load mean The load the motor is experiencing over time Motor register 35 Error status Bit field that holds both error information and status of movements etc The 5 write registers are configured to hold the following data Motor register 2 Operating mode 0 passive Velocity 2 position etc Motor register 6 Acceleration The requested acceleration to be used Motor register 5 Velocity The requested Velocity to be used JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 69 4 3 Using cyclic O messages Motor register 7 Torque The max allowed Torque to be used Motor register 3 Requested position The reques
229. up according to the following eS MacTalk Noname File wiew Motor Setup Updates Help a r E pe E 3 3 STOP RS Al Open Save Save inflash Reset position Clear errors Reset motor Filter setup STOP Motor COM scan Setup Ethernet settings Cycle data setup IP address 1 E3 254 214 248 Read Word 1 2 Operating mode ee 265 255 D Read word 2 Actual position Read ward 3 1 2 Actual velocity Default gateway 0 0 UB Read word 4 69 Actual torque Read ward 5 35 Error status Use te optait IP address Write Word 3 Requested position Write Word 2 5 Velocity rike Word 3 Acceleration Write Word 4 Torque EthemetlP erar handlin White Word 5 jo No Selection hoton set Passive made Hotorset Passive made 2 Matar set velacity 0 L C Motor set velocity 0 Apply and save JET WedsRuwing Firmware Version 41 80 Bulld 115 2 Press the Apply and save button for permanent storage of the EthernetlP settings 3 Switch off the 24V supply while connecting the Ethernet cable to the switch PLC 4 Re apply 24V set the PLC into RUN mode Now we should be able to control the motor 5 Start by setting the profile data such as Velocity acceleration and Torque According to the following Explanation Servo_ 1 0 Data Requested position 200000 H Servo 1 0 Dataf1 5 Velocity 8000 8000 2820 RPM HH Servo
230. used terms are useful to know before reading the following chapters O0Base Tx 100 MBit Ethernet on twisted pairs IP Internet Protocol IP address the logical address of the device which is user configurable MAC 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 in stalled in the motor TCP Transfer Control Protocol an IP based protocol used widely on the inter net UDP User Datagram an IP based protocol used widely on the internet JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 145 7 2 Commissioning 7 2 1 Indicator LED s description The LED s are used for indicating states and faults of module There is one power LED two link activity LED s one for each Ethernet connector and 2 status LED s Indicator and label overview General status indicator E Error indicator Power indicator Line activity indicator Line activity indicator 00 50 C2 00 0 7 TT3059G8 MAG address Hardware serial number LED indicator descriptions LED Text Orange Flickering Green L A IN No valid Ethernet Ethernet is connection connected L A OUT No valid Ethernet Ethernet is connection connected Initializing or server TOP client RUN no valid open for connected Ethernet connections No Errors
231. ver such as a DHCP server or similar Since the motor doesn t offer any DHCP service it is necessary to setup the IP address in the PC manually Please note that this is taken from Windows 7 but the method is basically the same for other Windows version To reach the IP settings please follow this path Step I Press the LAN Connection and press the Properties Follow this path to find the network settings KJE Central Panel Network Internet p Network and Sharing Center Contre Panel Home it VIEW your basic ne twork iniorrnation and set up cor nections Change adapter settings i de Change advanced shann nm 3 FS Nl seal Internet This computer View your acie networks onnext or disconmext de Access type Internet Domain network Connections LAN connection Change your networking settings dio Set up new ca mnactian or netwerk Set up wireless broadband dial up ad hoc or VPN connection or fet up a router or access point onnact ha nabvore Connect or reconnect to a wireles wared dial up ar VPN network Fonnectian Choose homegroup and sharing options files and printers located on other network computers or change sharning setting pro blerris pa Diagnose and repair network problems or get troubleshooting informaben Homeltimup Internet Options Wunder Firewall TT3071 01GB Find the LAN Connection Continued next pa
232. well as the type of zero search to perform when a FastMac command is received Bits 7 0 define the zero search mode the motor should start up in If this value is zero the motor will not perform a zero search at startup but will start up in the mode selected by Reg37 START MODE See bits 15 8 below for an exception Bits 15 8 define what mode the motor will set when it receives a FastMac command 96 16 NOTE that if all these bits are non zero the motor will start up in passive mode instead of starting in START MODE Bit 16 is set after a zero search has completed and can thus be used to test if the motor has performed a zero search at least once after 24V was last turned on After a zero search has completed the motor will always change into the mode defined by Reg 37 START MODE unless an error in that will stop the motor and set ERR STAT bit s mer lee e mU exerit em mereri IMEEM T RW resets to 0 V REG P not 0 8 Word When set to 1 8 copies one of VELO VEL7 to V SOLL then ELM WE UM us mjumr me me emzv ie present 0 RW resets to 0 46 T REG P not 0 4 Word When set to 1 4 copies one of TQ0 TQ3 to T SOLL then e E jme mw mesmo oo one re TSO en er me jus me emer tee rere present 0 RW resets to 0 48 Z REG P not 0 4 Word When set to 1 4 copies one of ZERO0 ZERO3 to INPOSWIN GYTE menesetstb TONER NPS TT1505GB JVL Industri Elektronik A S User Manual Ethernet
233. y from the end limit The sign of the home offset should be the opposite of the homing direction For example when using negative homing direction the home offset could be 5000 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 55 3 6 Examples 3 6 1 Running Velocity control JVL Profile To use the JVL motor in velocity mode the following registers are basically of interest Mode Mode register register 2 V SOLL Velocity register 5 A SOLL Acceleration register 6 Error Status Error and status register 35 JUN So to control these registers the cyclic data needs to configured From MacTalk the setup is configured as this Cycle data setup Head ward 1 f 2 Actual velocity The actual velocity is transferred in the 1 word Read Word 2 1 Actual position Head ord 3 1 96 Bus voltage Head ard 4 1 Actual torque Head Word 5 35 Error status 4 The 5 word holds the data from the error status register This data is a bitfield structure holding both motion related information and present error type KJENNE The operation mode is set in the 1 Word 0 passive mode and 1 Velocity mode Use passive mode to stop the motor and velocity mode to start the motor Write Word 1 2 Operating mode Write Word 2 Requested position write Word 3 5 Velocity Write Word 4 Torgue Write Word 5 6 Acceleration The requested velocity is set in th

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