JVL MAC050 - Page 214

210 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
5.6 Expansion Mod. MAC00-FC2/FC4/FC41
Transmit PDO 23d:
With this PDO the actual torque can be read.
Transmit PDO 24d:
With this PDO the value of the analogue input can be read.
Transmit PDO 25d:
With this PDO the motor status, inputs and last error can be read.
This PDO also supports asynchronous transmission. If this PDO is in asynchronous
mode, it will be transmitted every time the run status or inputs are changed.
5.6.44 Transmission time
Due to the internal communication between the motor and the MAC00-FCx, the PDOs
takes a certain time to process. The following table shows the processing time for the
PDOs.
The table with 8.5 and 21 ms are valid for the MAC050 – MAC141, and for MAC400 and
higher with firmware versions below 2.0. With MAC400 and higher with firmware 2.0
and higher, the table with <2 ms will be valid. Still it would be possible to overload the
internal communications line if many data objects are read with short intervals. The gen
-
eral rule of thumb is that up to seven motor registers can be read every 2 ms.
(): Only valid for MAC050 to MAC141. All timing values based on MAC00-FCx firmware V3.0 or newer.
*: Note that Transmit PDO21d is faster if P_IST scanning is enabled. (See object
2011h subindex 8).
**: Note that Transmit PDO22d is faster if V_IST scanning is enabled. (See object
2011h subindex 8).
Byte 0 1 2 3 4 5 6 7
Data VF_OUT UserReg1XmitSelect !=0 Reserved Reserved
Object 2012h, sub 121
Byte 0 1 2 3 4 5 6 7
Data ANINP UserReg2XmitSelect !=0 Reserved Reserved
Object 2012h, sub 122
Byte 0 1 2 3 4 5 6 7
Data
Motor
Status
Inputs Last motor error Reserved Reserved Reserved Reserved
Object
2011h,
sub 3
2011h,
sub 1
2011h, sub 4
PDO number 21 22 23 24 25
Receive PDO
< 2ms
(8.5ms)
< 2ms
(21ms)
<1ms <1ms -
Transmit PDO
12.5ms
(<1ms)*
10.5ms
(<1ms)**
10.5ms 10.5ms <1ms