JVL MIS23 Series User Manual

230 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x
10.4 Objects in the DS301 standard
Note regarding “device type” (index 1000):
The device type register is composed of 2 16-bit registers. One register describes which
device profile the module supports, and the other states which type of motors the mod
-
ule supports, and possible I/O module. The default value 0192h denotes that the DSP402
Device profile is supported, and the value 0004h denotes that the SMC75 (used in the
MIS23x) Controller supports stepper motors.
10.4.2 Emergency object
The EMCY (emergency) object is used to transfer an error message to the CANopen
master, or also to another node which can process the error message. The reaction on
the emergency object is not specified. An emergency object is transmitted only once per
“error event”.
The MIS23x (SMC75) supports the EMC object (Emergency).
The following error codes can be generated:
Error code 1001h: Generic error - Motor error
Error code 1002h: Generic error - Position error
Error code 1003h: Generic error - Follow error
Error code 1004h: Generic error - Low
Transmit PDO25:
Use Transmit PDO25 in asynchronous mode to read the status of the error.
In the MIS23x (SMC75), no error control is enabled when the modules are started up
because if there is any fault in the system, it is impossible to get in contact with the mod
-
ule. After the module has started up and there is communication between the master and
the slave, turn on the required error control mechanism in the communication objects,
see
section 10.4.1.
Name
Index
(hex)
Sub
Index Data Type
Read
only
Default Description
Guard time 100C UNSIGNED16
Informs about the Guard time in
milliseconds. Is only mandatory if
the module does not support
heartbeat
Life time
factor
100D UNSIGNED8
Is the factor that guard time is multi-
plied with to give the life time for
the node quarding protocol
Heartbeat
time
1017 UNSIGNED8
If the Heartbeat timer is not 0,
Heartbeat is used.
Identity
object
1018 IDENTITY X
Contain general information about
the module
0 1 to 4 X 4h Number of entries. Mandatory
1 UNSIGNED32 X 0x0117
Vendor ID, contains a unique value
allocated to each manufactor. 117h
is JVLs vendor ID. Mandatory.
2 UNSIGNED32 X 0x0200
Product Code, identifies a specific
device version. MIS23x (SMC75)
has the product code 200H.
MIS34x (SMC85) has the product
code 300H.
3 UNSIGNED32 X Revision number.
4 UNSIGNED32 X Serial number

JVL MIS23 Series Specifications

General

Brand	JVL
Model	MIS23 Series
Category	Engine
Language	English