52 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors
3.4 EtherCAT® objects
3.4.8 Object 0x2010 - Subindex 0
This object is used for sending commands to the module and is write only. It is analogue
to writing to object 2011 subindex 15.
The possible commands are shown in See “9.2 Register Descriptions.” on
page 233.
3.4.9 Object 0x2011
The module registers is mapped to object 0x2011. The subindex 3-31 is R/W, the rest is
read only.
The register numbers are used as sub indexes in the object. See register descriptions in
chapter 8 - page
227.
3.4.10 Object 0x2012
Object 0x2012 are for acyclic view or change of motor registers.
Please find a complete list of register descriptions in the appendix.
Registers relevant for the MAC050 to 141 motors:
Motor registers MAC050 - 141, page 264
Registers relevant for the MAC400 to 4500 motors:
Motor registers MAC400 - 4500, page 273
Registers relevant for the MIS/MILxxx motors:
Motor registers MISxxx, page 292
3.4.11 Object 0x2013 (only applicable to MAC400-4500).
Object 0x2013 are for acyclic view or change of motor registers above 255.
To access a motor register the register number is calculated as follows:
Motor register number = Subindex + 255
3.4.12 EtherCAT® Slave Information file
EtherCAT® Slave Information file (ESI) is a XML file that specify the properties of the
slave device for the EtherCAT® master and contains information on the supported com
-
munication objects. EtherCAT® Slave Information files for JVL drives are available
through your local JVL representative. If TwinCAT is used for master then the XML-file
shall be copied to the folder "..\TwinCAT\Io\EtherCAT\".
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