86 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors
4.2 Using none cyclic messages
E.g. the motor shall be operated in velocity mode.
This requires that the mode register 2 = 0x1.
Velocity mode is 0x1, Position mode = 0x2 e.t.c.
All modes of operation is further described in the servo manual.
The explicit message is setup as follows.
Package:
Class: 0x64
Service: 0x10 (write data)
Instance: 0x2 (mode register in the motor)
Attribute: 0x1
Data: 0x00 00 00 01
This will set the mode register in the motor into velocity -mode
Motor Register 2 = 1
To read a value from the motor use the service code 0xE.
After setting the motor into velocity mode it will start running. Now the actual velocity
can be read while the motor is running.
Package:
Class: 0x64
Service: 0xE (Read data)
Instance: 0xC (Actual velocity)
Attribute: 0x1
Now the response data is received:
Data: 0x00 00 01 15
This value 0x115 (hex) is the decimal value 277 which corresponds to 100 RPM. This is
the default velocity value.
So basically the motor can be controlled and all needed data can be retrieved using ex-
plicit messages. This method is not suitable when data is needed fast and frequently for
this purpose I/O messaging (Implicit messaging) is used.
Not only motor registers are accessible using explicit messages, also static data such as
serial numbers, network status etc. are accessible. These informations are accessible ac
-
cording to the EtherNet/IP standard and follows the implemented classes: 0x1, 0x4,
0xF5, 0xF6. These classes are explained in details in the EtherNet/IP standard (obtained
from
www.ODVA.org) and in
For further info please See “Examples” on page 106.
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