JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 67
3.5 CiA® DSP-402 drive profile
Cyclic Synchron Velocity mode (csv)
This mode is used when synchronization between several drives are needed in velocity
mode. When using CSV mode it is highly recommneded to use Distributed Clock, in or
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der not to loose any cyclic frames. To use this mode the default PDO needs to be
changed. Please follow the steps below:
WARNING: The CSV mode is NOT recommended for MAC050-141, as these
motors do not support Distributed Clock, and have a minimum cycle time of
16ms when using DSP-402.
Step 1-2.
It is easiest to change the PDO in TwinCAT if the drive is connected to TwinCAT and is
“online”. Then first press the “CoE online” tab in the drive setup. Please see below pic
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ture.
This way the available objects are fetched online from the drive, and don’t have to be
keyed in manually.
Step 3-6.
Then press the “Process Data” tab, select “RxPDO” and then right click on Index 0x607A
and select “Delete”. Answer yes to the confirmation. See steps in the picture below.
!
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