JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 201
8.3 Sercos Communication
“RO”=ReadOnly,”RW”=ReadandWriteable,”C”=MapabletoCyclicdata,“T”=MapabletorealTimebits.
(1)OnlyavailableinMAC00‐ESx(MACservomotorSercos®module).
(2)OnlyavailableinMIS/MILxxxxxxESxxxxx(MIS/MILsteppermotorwithintegratedSercos®module).
(3)OnlyavailableinMAC400‐MAC4500withMAC00‐ES4x.
(4)Onlyavailableifdriveprofile(FSPDrive)selected.
8.3.5 Non-cyclic data via the service channel (SVC)
All S and P parameters listed in the table in the previous paragraph can be read via the
service channel. Write access is only possible to parameters which are not write protect
-
ed. The service channel is initialized during CP1 and is available in CP2-CP4. The service
channel is controlled by the SVC controlword. The status is present in the SVC status
word. The IDN procedure commands are also transferred by the service channel.
8.3.6 Cyclic data
In cyclic data transfer, new parameters are transferred with every cycle of the net. The
parameters transferred are defined by the mapping. With the JVL profile the mapping of
the cyclic data is done in MacTalk by selecting motor and/or module registers for cyclic
transfer and save this mapping in flash in the Sercos
®
module. With the FSP Drive this is
done in the Sercos
®
master, by writing to the IDN’s S-0-1050.x.6 in communication
phase CP2. In communication phase CP3 these IDN’s are then setup in the Sercos
®
slave
for cyclic communication. The JVL Sercos
®
module only uses freely dynamically cyclic
mapping. The standard telegrams from earlier generations of the Sercos
®
protocol are
not supported. The IDN’s S-0-0187 and S-0-0188 contains lists of the IDN’s which are
cyclic map able.
IDN Description Default Units Attri-
butes
S-0-1300.0.5 Vendor device ID
MAC00_ES_
DRIVE
-RO
S-0-1300.0.9 Software revision - - RO
S-0-1300.0.11 Order number - - RO
S-0-1300.0.12 Serial number - - RO
S-0-1301 List of GDP classes & version - - RO
S-0-1302.0.1 FSP type and version - - RO
S-0-1302.0.3 Application Type - - RW
S-0-1303.0.2 Diagnosis trace control - - RW
S-0-1303.0.3 Diagnosis trace state - - RO
S-0-1303.0.10 Diagnosis trace buffer 1 - - RO
S-0-1303.0.11 Diagnosis trace buffer 2 - - RO
S-0-1305.0.1
Sercos
®
current time
- - RW
S-0-1601 List of FSP drive classes & version - - RO
P-0-0001 to P-0-0255 Motor registers 1 – 255. P-0-0001 = Motor register
1, P-0-0002 = Motor register 2 etc.
Please refer to section 12.2.1 for MAC050-141,
section 12.3.1 for MAC400-4500, and
section 12.4.1 for MIS/MILxxx motors.
- - -
P-0-0256 to P-0-0511 Motor registers 256 – 511. Please refer to appen-
dix 11.3.
---
P-0-3001 to P-0-3063 Sercos
®
communication module registers 1-63. P-
0-3001 = Sercos® module register 1, P-0-3002 =
Sercos
®
module register 2 etc. Please refer to sec-
tion 9.1.1 for detailed descriptions.
- - -
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