JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 77
3.6 Examples
3.6.5 Relative positioning (JVL profile).
There are a number of ways to do relative positioning, but the one explained here is very
simple, and can be used with a constant distance, or exchangeable distance, to move
every time it is requested.
Preconditions:
Place the module command register (register 983040 in MacTalk) in the cyclic write list.
The cyclic setup, could for example look like this:
Procedure in the PLC:
1. Set up register P7 in motor to requested relative offset.
2. Make sure one net cycle has passed, so P7 resides in the motor.
3. Issue command 0x010000F1 (0x01000071 if the device is a MIS/MILxxx) in module
command register (register 983040 in MacTalk).
4. Make sure one net cycle has passed, so command is interpreted by the motor.
5. Set module command register to zero. This will prepare the Ethernet module for
new commands.
6. If needed then monitor register 35 (Error status): When bit 4 is set (in position), then
the move is finished.
7. When a new relative move is requested, go to step 3.
You may also have the P7 register in the cyclic write list, thereby enabling easy change of
the relative distance to move.
3.6.6 Save parameters to flash (CiA402 + JVL Profile)
Saving of the parameters to flash (non-volatile memory) only requires a simple non-cyclic
command to the EtherCAT module command register which is accessible via object
0x2010.
Save EtherCAT module parameters to flash:
Write the value 0x0000 00010 (= 16 dec.) to object 0x2010.
Save motor parameters to flash:
Write the value 0x0000 00110 (= 272 dec.) to object 0x2010.
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