208 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors
8.4 FSP Drive profile
8.4.2.1 Parameterization level (PL)
Parameterization level can be used to change parameters that are write protected in op-
erating level and for which write protection is bound to the sub-device state machine,
without leaving communication phase CP3/CP4. This can be useful, if application specific
parameters of a specific sub-device have to be adjusted while the applications of other
connected slaves remain activated. With the activation of the parameterization level the
corresponding monitoring bits of S-0-0135, Drive status bits 15 and 14 are set to 0. Pa
-
rameters which are write protected in parameterization level (PL) cannot be changed.
8.4.2.2 Operating level (OL)
The sub-device is ready for running the application. All monitoring systems are switched
on. Parameters which are write protected in operating level (OL) cannot be changed. Bit
4 (Sub-device level) of the Device Status word is set to "0" (operating level (OL) is active).
8.4.2.3 Control of sub-device state machine
In order to control the state machine of the sub-device independent from the communi-
cation state machine, the following commands can be executed:
S-0-0420 Activate parametrization level procedure command (PL)
S-0-0422 Exit parameterization level procedure command
The sub-device state machine is normally coupled with the communication state ma-
chine. So in communication phases CP0, CP1, CP2 the sub-device state machine is in pa-
rameterization level, and in communication phase CP3 and CP4 the sub-device state
machine is in operating level.
It is possible to decouple this connection by setting bit 1 of S-0-0425 Sub-device state
machine control.
8.4.3 Operation modes
Used IDN’s for drive control, independent of selected operation mode:
“RO”=ReadOnly,”RW”=ReadandWriteable,”C”=MapabletoCyclicdata,“T”=MapabletorealTimebits.
The JVL Sercos
®
module supports the following operation modes of FSP Drive which is
setup in IDN S-0-0032:
IDN Description Default Units Attributes
S-0-0032 Gets/sets the primary operation mode of the drive 3 - RW
S-0-0134 Drive control word - - RW, C
S-0-0135 Drive status word - - RO, C
S-0-0292 List of supported operation modes - - RO
Mode
Value in S-0-0032
Decimal Hexadecimal
Velocity control 2 0x02
Position control (default setting) 3 0x03
Velocity control without following distance 10 0x0A
Position control without following distance 11 0x0B
Synchronous Velocity control 66 0x42
Synchronous Position control 67 0x43
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