JVL MAC00-EC41 - Page 217

JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 217
8.5 FSP IO / JVL profile
After change of settings the button “Apply and save” are pressed. Then the settings are
saved to flash and the Sercos module does a reboot for the changes to take effect.
Please find a complete list of register descriptions in the appendix.
Motor registers MAC050 - 141, section 12.2 and Motor registers MAC400 - 4500, section
12.3 and Motor registers MIS/MILxxx, section 12.4 Sercos Module registers section 9.1
Please notice: The motor registers 35, 36, and 211 should NOT be insert-
ed in the cyclic write list, as this may give unpredictable results. For clear of
errors please refer to
Reset motor errors (FSP IO / JVL Profile), page 223. For
a list of commands for the module command register please refer to Regis-
ter 15 - Command register, page 231.
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 sit-
uations it is necessary to interpret them as 16 bit to get the sign correct.
8.5.2 Minimum cycle time (FSP IO / JVL Profile)
The minimum cycle time is the minimum amount of time between each cyclic request on
the Ethernet (Sercos
®
cycle time).
If operating with values lower than those listed, data loss will occur.
*Theminimumcycletimes,isonlyvalidifnotsendinganynon‐cyclicrequestswhileinanyoperatingmode.
MODULEregisterscanbeappendedasthelastregistersinthelist,atnoextratimingcost.Motorregister
35shallbepresentinthecyclicreadlist,asitis
alsousedinternally.
No. of motor registers
transmitted in each
direction
Motor series
MAC050 to
MAC141 *
Motor series
MAC400+ *
Motor series
MIS/MIL *
1/1 4ms 500 μs 1ms
2/2 8ms 500 μs 1ms
3/3 12ms 500 μs 1ms
4/4 16ms 500 μs 1ms
5/5 20ms 500 μs 1ms
6/6 24ms 500 μs 1ms
7/7 28ms 500 μs 1ms
8/8 32ms 500 μs 1ms
!
!