166 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors
7.2 Commissioning
Response:
* To be repeated 1-62 times.
Example:
Read of module register 3 (= IP address = 192.168.100.1 = 0xC0.0xA8.0x64.0x01) and
write of motor register 3 (= P_SOLL = 0x12345678) in one operation:
Request - (Note the byte order!)
|0x00|0x02|0x00|0x00|0x00|0x0B|0x01|0x17|0x80|0x06|0x00|0x02|0x00|
0x06|0x00|0x02|0x04|0x56|0x78|0x12|0x34|
Response - (Note the byte order!)
|0x00|0x01|0x00|0x00|0x00|0x07|0x01|0x17|0x04|0x64|0x01|0xC0|0xA8|
Possibly exception responses: 0x02, 0x03.
For further documentation see "Modbus_Application_Protocol_V1_1b.pdf" and "Mod-
bus_Messaging_Implementation_Guide_V1_0b.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 MAC050-141. In those situations it
is necessary to interpret them as 16 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.
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-MAC141.
7 bytes 1 byte 1 byte 2 bytes* 2 bytes*
MBAP
header
Modbus
Cmd. (0x17)
Data byte
count
Register value low 16bit Register value high 16bit
No. of polled motor
registers (32bit)
Motor series
MAC050-MAC141 MAC400-MAC4500 MIS/MILxxx
1 2ms 2ms 2ms
5 10ms 3ms 3ms
10 20ms 4ms 4ms
!
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