JVL MAC00-EC41 - Page 147

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JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 147

6.3 PROFINET objects

Default registers in receive PZD (Master > Slave) - Only MAC-EPx

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 16 bit to get the sign correct.

Default registers in transmit PZD (Slave > Master) - Only MIS/MILxxxxxxEPxx

Default registers in receive PZD (Master > Slave) - Only MIS/MILxxxxxxEPxx

The MIS/MIL motor registers 24, 35 and 36 should NOT be inserted in the cyclic write

list, as this may give unpredictable results. For clear of errors, reset of motor etc. please

insert the module command register (=983040 in Mactalk) in the cyclic write list and

send commands this way. For a list of commands for the module command register

please refer to

Object index Register no. Motor register short Motor register description

0 2 MODE_REG Operating mode

1 3 P_SOLL Target position

2 5 V_SOLL Maximum velocity

3 7 T_SOLL Maximum torque

4 - - -

5 - - -

6 - - -

7 - - -

Object index Register no. Motor register short Motor register description

0 2 MODE_REG Operating mode

1 10 P_IST Actual position

2 12 V_IST Actual velocity

3 35 ERR_STAT Error bits

4 36 WARN_BITS Warning bits

5 - - -

6 - - -

7 - - -

Object index Register no. Motor register short Motor register description

0 2 MODE_REG Operating mode

1 3 P_SOLL Requested position

2 5 V_SOLL Requested velocity

3 6 A_SOLL Requested acceleration

4 - - -

5 - - -

6 - - -

7 - - -