JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 207
8.4 FSP Drive profile
The FSP Drive profile is supported by the JVL MAC00-ES4x module when inserted in
MAC400 – MAC4500 motors and by MIS/MILxxxES motors. With these motors the FSP
Drive profile is factory default, but if not enabled for some reason, please refer to
section
8.2.5.1 Enabling FSP Drive / Pack Profile. The FSP Drive profile is not supported when the
MAC00-ES4x module is inserted in the MAC050 – MAC141 motors.
Please refer to section 8.5 FSP IO / JVL profile for using these motors.
8.4.1 Supported cycle times (Pack Profile / FSP Drive and FSP Sync)
When using the Pack Profile or the FSP Drive profile the JVL motors support different
cycle times, depending of the motor type. If the motion cycle time is larger than the Ser
-
cos cycle time then the drive performs an internal interpolation of the cyclic position val-
ues if running in position mode. With all supported cycle times the JVL motor are
synchronized with the master. Please see supported cycle times in the table below.
If operating with other values than listed then the motor will refuse to go to CP4.
8.4.2 Sub-Device state machine
The JVL Sercos
®
implementation support the GDP_StM (Generic Device Profile, class
StateMachine).
Used IDN’s with State machine (GDP_StM):
“RO”=ReadOnly,”RW”=ReadandWriteable,”C”=MapabletoCyclicdata,“T”=MapabletorealTimebits.
In addition to the communication state machine there is a sub-device state machine,
which represents the operating state of the Sercos
®
application. In general the sub-de-
vice state machine has two states, the operating level and the parameterization level. The
sub-device state (SD State) can be monitored in the Sercos status frame on the Sercos
tab in MacTalk as shown below.
Motor series
MAC050 - MAC141 MAC400 - MAC4500 MIS/MILxxx
FSP Drive Sercos
cycle times
Only support FSP IO
profile without sync.
1, 2 ms 1, 2, 3, 4 ms
FSP Drive motion
cycle times
Only support FSP IO
profile without sync.
1 – 32 ms in integer multiples
of Sercos cycle time
1 – 32 ms in integer multiples
of Sercos cycle time
IDN Description Default Units Attributes
S-0-0420 Enter Parameterization Level procedure command - - RW
S-0-0422 Exit Parameterization Level procedure command - - RW
S-0-0423 IDN-list of invalid data for parameterization level - - RO
S-0-0425 Sub-device state machine control - - RW
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