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LB0056-12GB

1. Tt3027GB Write assembly Read assembly aj HiSewo ____ HiSewo ____ HiSewo 10084 0 60 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 4 9 Examples of applications MacTalk IO assembly setup seen in the controller tag list and read from the PLC when the connection has been established El Servo 11 Explanation Servo 1 Cyclic data setup _1 1 0 2 Operating 2 position mode Read Ward 1 2 Operating mode FH Servo 1 Data 1 200000 10 Actual Position 200000 Read Word 2 10 Actual position 9 5 12 0 2 0 12 Actual Velocity 0 Cnt s Read Word 3 12 Actual velocity 9 5 1i1Dataf3 0 169 Actual Torque 0 1024 300 Read Word 4 169 Actual torque FH Servo 1 1Dataf4 524304 35 Error Status 524304 no errors Read Word 5 35 Error status Write Word 1 3 Requested position E Servo 1 0 LN Explanation Write Word 2 5 Velocity E3 Servo 1 0 Data 2 Write Ward 3 6 Acceleration H Servo 1 0 Data 0 3 Requested position 200000 Write Word 4 7 Torque _1 0 1 5 Velocity 8000 8000 2820 RPM White Word 5 0 No Selection Servo 1 0Datal2 6 Acceleration 2 Cnt s 2 543 RPM
2. 6 2 15 SOMMISIONING Un Dues 9 74 Ether CATO Objects sa 33 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 3 1 3 1 1 24 Introduction to Ether CAT Expansion module MAC00 EC4 front plate 4 X lnr NT 00 50 C2 TT3041GB Intro to EtherCAT EtherCAT is a Real Time Ethernet technology which aims to maximize the use of the 100 Mbit full duplex Ethernet bandwidth It overcomes the overhead normally associat ed with Ethernet by employing on the fly processing hardware An EtherCAT net consists of a master system and up to 65535 slave devices connect ed together with standard Ethernet cabling The slave devices process the incoming Ethernet frames directly extract or insert rele vant data and transfer the frame to the next slave device with a delay of approx 4s The last slave device in the bus segment sends the processed frame back so that it is re turned by the first slave to the master as a kind of response frame There are several protocols that can be used as the application layer In the CANopen over EtherCAT technology the CANopen protocol is applied to EtherCAT CANopen defines Service Data Objects 500 Process Data Objects PDO and the Object Dictionary structure to manage the parameters Further information about EtherCAT is available from the EtherCA
3. Mechanical installation Device Type Manufacturer Device Name Manufacturer Hardware Version Manufacturer Software Version Identity R PDO 1 TxPDO 1 Sync Man 2 Assignment Sync Man 3 Assignment command Module parameters Motor parameters 32 bit Online Size 0x00 0 0 0 00 0 0 OxFE 254 OxFF 255 OxFF 255 OxFF 255 0 0 0 00 0 0x00 0 0x00 0 0 00000000 0 JVL MACDO E 1 10 101 gt 4 lt gt 1 lt gt 1 lt gt B3 gt 254 lt gt Addr InjOut User 26 0 Input 27 0 Input 28 0 Input 29 0 Input 30 0 Input 31 0 Input 32 0 Input 33 0 Input 34 0 Input 35 0 Input 36 0 Input 37 0 Input 38 0 Input v Local 127 255 255 1 1 1 The network cables must be connected to the two 12 connectors marked L A IN and L A OUT on the module The cable from the EtherCAT master is always con nected to the L A IN port In the line topology if there are more slave devices in the same line the next slave device is connected to the port marked L A OUT If there is a redundant ring the right OUT port of the last slave device is connected to the second port of the EtherCAT master See the figure below Standard CAT 5 FTP or STP cables can be used It is not recommended to use UTP cables in industrial environ ments whic
4. Motor Eo NE UNSIGNED32 Access to the motor parametern to the motor Access to the motor parametern n Note Module parameters are not automatically saved to permanent memory after a change The parameters can be saved permanently by applying a Save parameters to flash command afterwards JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 5 4 5 4 6 5 4 7 5 4 8 5 4 9 5 4 10 5 4 11 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 7 Ethernet POWERLINK objects Object 0x2010 Subindex This object is used for sending commands to the module and is write only The possible commands are listed in the table below 0 No operation x001 Reset the module x010 Save parameters to flash x101 Simultaneous reset of the motor and the module 0x110 Instructs the motor to save in flash memory and do a resync of internal com munication afterwards 0x80000000 Bit 0 30 of the command is transmitted to the motor register 211 motor com OxFFFFFFFF mand register Object Ox2011 The module registers is mapped to object 0x201 I The subindex 3 6 31 is R W the rest is read only Object 0x2011 Subindex 1 MAC address MSB The 2 most significant bytes of the module MAC address is placed here Output 16 Most significant bits of MAC address Object 0x2011 Subindex 2 MAC address LSB The 2 most significant bytes of the module M
5. Use DHCP to IP address Write Word 1 5 Requested position White Word 2 5 Velocity White Word 3 6 Acceleration Write Word 4 7 Torque EthernetlP error handlin Write Word 5 0 Selection PLE IDLE setup Passive mode C Matar set velocity 0 f Motor set Passive mode C Motor set velocity 0 Apply and save Firmware version 1 80 Build 115 Hardware Version 71 00 MAC am Sa Cz 00 60 00 Sernalnumber The MAC address and other basic info is shown here TT3022GB After adjusting all settings press Apply and save for the settings to take effect and for permanently saving the setup Information such as EtherNet IP firmware version MAC address and module status is displayed in the Status field Notice that the MAC address is unique for each module and can not be changed A label at the frontplate of the module also indicate the MAC address Basic use of MacTalk is described in the MAC motor manual lit no LB0047 xxGB 46 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 4 5 4 5 1 Examples Running Velocity control To use the JVL motor in velocity mode the following registers are basically of interest Mode Mode register register 2 SOLL Velocity register 5 SOLL Acceleration register 6 Error Status Error and status register 35 gt UN So to control these regi
6. 4 9 Examples of applications Message 2 and 3 Msg2 Msg3 are writing values to specific registers in the motor They are configured in the following way Writes SET ATTRIBUTE SINGLE the value from the MODE tag into the motor reg ister 2 Operation mode Message Configuration Msg Configuration Communication Tag Message Type service car Attribute Single Type Service Code 1 0 Hex Class 54 Hex Register 2 actual mode O Enable Enable Waiting Cy Start 2 Error Code Extended Error Code Error Path Error Text Source Element Source Length Destination 4 byte tag value to write in register 2 mode register ap Done Length 0 Timed Out Annuller Anvend Hj lp Tt3026GB Please notice the mixed decimal and hexadecimal notation used Explicit messages are always 4 bytes long and uses Class 0x64 to access the internal mo tor registers The instance refers to the actual motor register Instance 2 points to the motor active mode register Explicit messages are typical used for configuration purpose or for rare data update situ ation that does not require a cyclic update timing JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 59 4 9 Examples of applications 4 9 5 Assembly data The complete list of Controller tags defined L23E QB1 19 11 Controller Tags Ser
7. Ethernet expansion modules for MAC motors 77 5 4 5 4 5 78 Ethernet POWERLINK objects Manufacturer specific objects The manufacturer specific objects provides access to all module registers and all motor registers as well as a module command object Index Read o CN greven Description Module Module command 2960 See possi CNET LI ET High 16 bit of MAC address placed UNSIGNED32 Low 32 bit of MAC address vse RETI 4 UNSGNEDS X 2552582050 5 UNSONEDS X 192168100204 Gateway s UNSONED2 UNSeNED 9 Digital outputs on module sa UNSeNES te did Lo Lo p nie iin Lo d ee e GT Je Lo p p fumsoneoe 1 5 pono OE gt 1 _ L z mee Reserved for tutureuse tr c a _________ ____ use ___________ X _______ frede Fars nin s X Module sofware version Ve fummene unsieneDe X No of rety trames to motor ot aie Junsienebe X of framesto motor 3946 UNSIGNEDS2 x jResevedforttweue Xx jDeiipusonmoue Jag x m EE EE Reserved for future use for future Reserved for future
8. MACOO Ex4 is a neutral module not setup up for any particular protocol The final user can setup it up for any of the available protocols just by using the general Mac Talk windows software The visible LED marking lables etc only states that its a neutral MACOO Ex4 module e Pre loaded module a specific protocol has been installed The modules MAC00 EC4 EtherCAT MAC00 EI4 EtherNetIP and MACOO EL4 POWERLINK are setup at delivery with the relevant protocol and also the right LED marking The final user can setup it up for any of the available protocols just by using the gen eral MacTalk windows software The visible LED marking and typenumber is unique for each module type All modules when not delivered mounted in a MacMotor is followed by a little label sheet containing labels for all the available standards and standards to come The overall idea is that any module can be changed to another protocol if desired the modules can stay neutral when it passes the distribution channel and be setup by the end user simplifying the logistics How to setup a module for a protocol Only 2 steps are needed in this process Install the intended protocol firmware in the module 2 Apply or changing the label with LED marking and typenumber of the module The firmware can be setup as follows see next page JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 2 1 IModule types Only MA
9. Resync pos Bit 6 SYNCPOSMAN Same as bit 5 but manually 7 MAN NO BRAKE Disables the brake if set Disable brake Bit 8 SYNCPOSREL Offset IST with P NEW Bit 9 INDEX HOME Use index after zero search Use index aft 37 START MODE Long Int The mode used after power up See also register 2 Mode P HOME Long Int Motor position after zero search S HW SETUP Long Int Hardware setup bits Bit 0 DIRAWR Bit 1 DIRBWR Bit 2 PULSEOUT Bit 3 XSEL1 Bit 4 XPRINP Bit 5 NOFILT Bit 6 INVXDIR Speed used during zero search Speed defined as reg Zero search 0 cic a Torque used for Torque zero search The sign defines Zero search 1 JONE Long Int DEN polarity of the zero search sensor torque Zero search mode The type of zero search Zero search e e Bit 16 Home Done bit 16 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 9 6 2 Motor registers 6 2 Meotorregisters _ Registers P0 7 V0 7 etc Reg MacTalk no Width Description name 43 RREGP tog 4 VREGP 4 AREGP 4 TREGP 4 LREGP _ 48 ZREGP Longint_ eT Position register P1 Used with the fastmac protocol or POSO Long Int Encoder counts by the MACOO R1 3 4 nanoPLC module See also P SOLL register 3 POST Long Int Int Encoder counts counts Po
10. eo 147 Kevo Fedi 8 KB Fed __ _ ___ 9 Fede Jo 154 MODELPOT ___ 1556 SORDER 157 outtooppiv tongint Sample registers Reg MacTalk no Width Description name SAMPLE SAMPLE2 swwis savera we aoon JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 93 6 2 Motor registers Only amp 800 Outer loop registers MacTalk Width Description name HEN res erme tmm 5 we econ Feats E jer tmm we wor E 169 VF OUT Long Int mam Actual motor torque See also T SOLL register 7 que motor ANINP Long Int Analogue input voltage VDC ANINP x 0 0048828 Analogue input ANINP OFFSET Long Int i o Analogue input offset Same scale as ANINP 170 Inner loop registers Reg MacTalk no Width Description name 172 EDEGOFFSET PHASECOMP 174 AMRLITUDE toi _ _ 175 MANINOM Fwedi amp 176 MANALPHA _ toght _ O 177 _ _ __ O tegi fe 179 PHLSOLL _ Longint 180 bong int _ _ _ _ __ _ 182 cso tog _ ooo 1 _ 184 teh _ _ 185 tegi J
11. 197 inch Cable with M12 male 8 pin connector loose wire ends 0 22mm 24AWG and screen WI1000 M12M8TOSN Length ds 197 en Cable 5 5mm with M12 female 5 pin cUm ec wire ends 0 35mm 22AWG and foil screen WI1000 M12FSTOSN Length S 197 ich A gt gt Same as above but 20m 787 inch WI1000 M12F5T20N Ethernet cable with M12 female 4pin D X X coded straight connector and RJ45 WI1046 M12M4S05NRJ45 connector fits into std Ethernetport Ethernet cable with M12 female 4pin D 5 coded straight connector loose ends WI1046 M12M4S05R BENE Same as above but 15m 590 inch W11046 M12M4S15R Protection caps Optional if connector is not used to protect from dust liquids IP67 protection cap for M12 _ female connector WI1000 M12FCAP1 IP67 protection cap for M12 male connector WI1000 M12MCAP1 Important Please note that the cables are a standard type They are not recommended for use in ca ble chains or where the cable is repeatedly bent If this is required use a special robot cable 2D or 3D cable JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 21 22 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors Ether CAT module 7 MACOO ECA EtherCAT 9 module 23 7 Introduction to 24 2 fe 2 7 2 Protocol
12. 5 Press Apply and save Installation 6 Connect an Ethernet 45 12 cable to IF3 on the X20 and to L A IN or OUT on MACOO ELx 7 Connect power to the X20 and communication cable from the PC with B amp R Auto mation Studio installed to the X20 PLC either Ethernet or RS232 8 Make sure power is applied to all devices PLC configuration 9 Createanew project in Automation Studio for your PLC or open an existing project See B amp R documentation for more information 10 In the Project Explorer window open the Physical View tab Right click the node representing the CPU in this example X20CP 1485 1 and in the pop up menu select Open IF3 POWERLINK Configuration The POWERLINK Configuration window is opened 12 Make sure that Activate POWERLINK communication is set to 3 Close the window and save changes Add the XDD file contains info on the capabilities of the device 14 In the Tools menu of Automation Studio select Import fieldbus device 15 the Open window find and select the 00000117 MACOO ELx xdd file and click Open This link can be used http www jvl dk default asp Action Details amp ltem 428 continued next page 74 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 9 3 Commisioning Associating with MACOO ELx 16 In the physical view of the project explorer window right click the CPU node and click Open POWERLINK in the p
13. After boot the slaves are in INIT state and then it s up to the master to request state transi tions The standardized EtherCAT state machine is defined in the following figure The bootstrap state is not supported Init IP ien Pre Operational Bootstrap PS 90 OP Safe Operational 05 50 Operational TT3009GB The module enters the Init state directly after start up After this the module can be switched to the Pre Operational state In the Pre operational state the EtherCAT 9 mail box communication is allowed and CoE objects can be accessed by SDOs After the mas ter has configured the slave it can switch the module to the Safe Operational state In this state input I O data PDOs is sent from the adapter module to the Ether CATO mas ter but there is no output I O data from the master to the module To communicate out put I O data the master must switch the adapter module to the Operational state State description table Init otate after device initialisation No Application layer communication no SDO and PDO communication Pre operational SDO communication possible No PDO communication Safe operational Transmit PDO operational drive sends data to master Operational Drive fully operational responds to data via receive PDO Boot strap JVL Industri Elektronik A S User Manual Ethernet ex
14. M12 female connector coded JVL Cable Isolation Signal name Description WI1046 group M12M4S05R See note Ethernet Transmit channel 0 positive terminal Ethernet Receive channel 0 positive terminal Ethernet Transmit channel 0 negative terminal m Ethernet Receive channel 0 negative terminal L A OUT Ethernet port connector M12 4 pin female connector coded JVL Cable Isolation WI1046 group Signal name Description M12M4S05R note Ta P Ethernet Transmit channel 1 positive terminal Ethernet Receive channel 1 positive terminal 2 Ethernet Transmit channel 1 negative termin 3 N Ethernet Receive channel 1 negative terminal 4 Note Isolation group indicate which terminals circuits that a galvanic connected to each other In other words group 1 2 3 and 4 are all fully independantly isolated from each other Group 1 correspond to the hous ing of the motor which may also be connected to earth via the DC or AC input supply 1 2 3 4 20 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 2 4 Cable accessories 2 4 1 Cables for the MACOO Ex4 The following cables equipped with M12 connector can be supplied by JVL MACOO Ex4 Connectors Description JVL Order no mn OUT 1 i 12pin pi Female Female RS232 Interface cable Connects directly from MACOO Ex4 to a PC RS232 M12 1 5 8 Length 5m
15. 53 Examples of applications 56 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 39 4 1 Introduction to EthernetiIP Expansion module 0 14 front plate PEE SN 83022 00 50 C2 00 0 7 TT3042GB 4 1 1 Intro to EtherNet IP The JVL module makes communication using EtherNet IP possible with the JVL motor The Ethernet technology gives the advantages of fast data access using standard off the shelf hardware which again has the advantage of large accessability and low prices The JVL implementation is done in a way that minimizes the complexity of getting a sys tem up and running but still utilizes the benefits of industrial ethernet The JVL EtherNet IP implementation supports both explicit messaging and I O messages with up to 5 free configurable input and output words With a basic knowledge of the JVL motor operation through the register structure and basic knowledge of the EtherNet IP technology a motor can be setup and controlled in a very short time without first doing extensive studies in complex motion control stand ards etc EtherNet IP is basically divided in 2 groups of data explicit and messages in other words messages requiring fast data response time and data not so time critical typically used for configuration purposes In the EtherNet IP terminology these messages are also called Ex
16. EtherH etl P 2 00 MACCO E xx MACOO ELs 1 88 Cx Ethe CA T 1 84 xx EtherCAT 1 50 lk 1 60 Loading version Ether etl P Version 2 00 Status Tranzlenng 1 2 View Fielaze notes Abort Slat 85485 Start Select I Show all ties Version Hardware SMCES MIS SMICO5 firmware 1 04 SMCS5 firmware 1 0 SMCES MIS 344 SMCS firmware 1 01 SMCES MIS 34x Ether et P 200 MACDO Exx MACUD E Ls Powerlink 1 88 E 183 xs Cx Ethe LAT 1 80 MALLD Exx MACOO Els E theret F 1 80 ss gt Curent versjon Loading version MACOD Elx EtherketlP Version 2 00 Status View Fielaze notes MacTalk Noname Ee Motor setup Updates Heip u um a 8 Save Saveinflash Reset postion Clescerrors Preset mato Main Regiters Advanced Fitar parameters Tests Scop Lad Firmware Version V2 0 Build 167 Hardware Version V1 00 MAC 00 50 22 DO CO 77 Serialnumber 83019 Ethernet expansion modules for MAC motors 13 2 1 Module types Changing the label and typenumber This illustration show how to apply the appropriate label in order to change the LED texts and also give the module its un
17. PDO The PDO is used for cyclic I O communication in other words process data Service Data Object SDO The SDO is used for much slower acyclic data transmis sion response services Used for identity and status signalling during start up and runtime 72 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 9 3 Commisioning 5 3 1 Indicator LED s description The LED s are used for indicating states and faults of module There is one power LED two link activity LED s one for each Ethernet connector and 2 status LED s Indicator and label overview General status indicator Error indicator Power indicator Line activity indicator Line activity indicator 00 50 C2 D0 C0 7A TT3045GB MAG address Hardware serial number LED indicator descriptions LED Text Colour Constant Constant Double Triple off on flash flash No valid Ethernet L A IN Green Ethernet eM on connection No valid Ethernet L AOUT Green Ethemet lis connection NMT CS NMT CS B STATUS Green __ ETHE RNET Booting son fam five ew Power is Power is ap applied to PWR Power is plied to both module but motor and no communi module cation with motor Notes Blinking Flashing with equal on and off periods of 200ms 2 5Hz Single flash Repeating on for 200ms and off for 1s Double f
18. The operation mode is set in the 1 Word O passive mode and 1 Velocity mode Use passive mode to stop the motor and velocity mode to start the motor The requested velocity is set in the 3 word The requested acceleration is set in the 5 word Write Word 1 2 Operating made Write Word 2 Requested position write Word 3 5 Velocity Write Word 4 Torgue Write Word 5 6 Acceleration TT3016GB With the settings illustrated above we initiate the velocity mode by writing to the first word value this is velocity mode From the Master the registers is accessed using the PDO21 and accessing the registers R W on words 1 5 Since different PLC s have different methods of implementation the basic steps is de scribed in the following Set the needed velocity V SOLL V x 2 77 rpm Ex We need the motor to run with a constant speed of 1200 RPM So V SOLL 1200 2 77 433 cnt smp 2 Setthe needed acceleration A SOLL A x 271 RPM s Ex We need the motor to accelerate with 100000 RPM s so A SOLL 100000 27 369 cnt smp 3 Now set the motor into velocity mode and thereby activate the motor Ex The motor needs to be activated by setting it into velocity mode so we need to set the mode register to the value Mode which is velocity mode now the mo tor will use the acceleration and the velocity just configured 84 JVL Industri Elektronik A S User Manual Ethernet expansio
19. in gear mode Input 15 GEARF 2 Long Int Gear input factor Used in gear mode Output x A Lu LM LM LN LM La JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 89 6 2 Motor registers Error Handling ia MacTalk Width Description name Motor temperature calculated The value is integrated during motor operation If it reaches 100 the overload Motor load Long Int bit in reg 35 ERR_STAT bit 0 is set indicating that the mean motor torque has passed the allowable continues rating nominal torque EIN I2TLIM Error trip level used for I2T register 1 Returned energy from the motor load If the value passes 100 the UIT bit in register 35 ERR STAT bit 18 UIT Long Int 3 is set indicating that too much energy has been re load turned from the motor load Connect an external dump resistor or decrease deceleration UITLIM Long Int Error trip level used for UIT register 25 gt Logic supply voltage measurement Logic supply U 24V Long Int VDC 74 4713 age VDC U 24V x 0 013428 Logic supply Follow error limit If the follow error passes this limit the FLWERRMAX Long Int Encoder counts motor will be stopped and the FLW ERR in register 35 EH Follow error will be set Register to specify action when undervoltage is detect ed UV HANDLE Long Int Bit 0 SET UV ERR Error if under voltage Set error bit Bit 1 UV GO PASSIVE Go to passive mode Go to passive
20. in output Ol and INI e PWR connector 24V supply for the internal control circuitry in the motor JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 15 2 1 Module types 2 2 3 General power supply description The Ethernet modules can only be used in the MAC400 and the MAC800 servomotor The diagram below shows how to connect power to a MAC400 motor mounted with a MACOO Ex4 module Please notice that the voltage connected to P and or CVI must stay in the range 12 26VDC Precautions must therefore be taken if the system also contains MAC50 95 140 or 141 which may require 48VDC in order to reach maximum motor speed See also the general power supply description in the MAC motor main manual 80047 For further information concerning physical connections see the Expansion module MACOO Ex4 connector description page 19 Power supply connections to a MAC400 mounted with a MACOO Ex4 module sure that all Power supply involved units are connected to the same potential MAC400 Motor It is recommended with M ACOO Ex4 that a separate supply line is used for each motor Power Supply Mains 115 or 230VAC MAC400 Motor with Ex4 _ Max 26VDC Supply P Control Volt CVI o Mains 115 or 230VAC ei Power TT3011GB l6 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC m
21. s 9 5 1 0 3 12 7 Torque 512 512 150 HSemo 1 0 Data d 0 No Selection value is not updated TT3028GB JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 6 4 9 4 9 6 Examples of applications How to use the Example Step by Step Setting up IP addresses and general usage of the Rockwell CompactLogix PLC with the software package Logix5000 is beyond the scope of this example The following guideline is based on the JVL MAC400 motor with the factory setup Apply 24V open MacTalk and setup the ethernet settings as required and the IO as sembly cyclic data setup according to the following iu E Noname File View Motor Setup Updates Help Open Save Ethernet IF address Subnet mask 255 255 255 Default gateway 01000 to optair IP address CREE IDE setup BR Hotorset Passive made Matar set velocity D fe Hatorset Passive made C Motor set velocity 0 Status b 2 SaveinFlash Reset position Clear errors Reset motor Filter setup 1 254 214 248 es All COM scan STOP Motor Read word 2 0 Actual position Read ward 3 1 2 Actual velocity Read ward 4 69 Actual terque Head Word 5 25 Error status Write Word 1 3 Requested position Write Word 2 5 Velocity White Word 3 6 Acceleration Write
22. signee S pf 8 pf 6 UNSGNE O9 9 jDgtiowpusonmodde ts BHesevedforhtueuse Je iiid 9 nee esses ee Je Ts AJOJN Register to place in 21 RE position 4 Register to place in TxPDO 21 CO position 5 UNSIGNED32 EAS Reserved for future use 22 62 Reserved for future use UNSIGNED32 EF d ox j Reserved for future use Register no to place in RxPDO 21 Register no to place in RxPDO 21 Register no to place in RxPDO 21 UNSIGNED32 position 3 position 4 Register no to place in RxPDO 21 Register no to place in RXPDO 21 Reserved for future use UNSIGNED32 U Reserved for future use 39 3946 ng DNE a module seriaro Wedieharwareverion Module software verson CE Le C No of internal motor communication timeouts Digital inputs on module Status bits UNSIGNED32 Motor parameters 2012 NN UNSIGNED8 Subindex count Note Module parameters are not automatically saved to permanent memory after a change The parameters can be saved permanently by applying a Save parameters to flash command afterwards 26 28 29 0 1 2 3 4 5 6 7 8 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 35 3 4 EtherC
23. states of the device In the NMT GS RESET CONFIGURATION sub state the node ad dress of the device is identified and it is determined whether it is configured as a or CN The JVL MACOO ELx is a CN and thus it enters the NMT CN state machine in the GS COMMUNICATING super state NMT GS COMMUNICATING NMT CS NOT ACTIVE This is anon permanent state that allows a starting node to recognize the current network state Timeout for SoC PReq PRes and SoA frames trigger the device to enter state NMT CS BASIC ETHERNET The NMT CS PREOPERATIONAL 1 Transition from NMT CS NOT ACTIVE to NMT CS PRE OPERATIONAL I is triggered by a SoA or SoC frame being re ceived In this state CN may send a frame only if the has authorized it to do so by a SoA command There is no PDO communication in this state Receiving a SoC frame triggers the transition from NMT CS PREOPERATIONAL 1 to NMT CS PREOPERATIONAL 2 The NMT CS PREOPERATIONAL 2 In this state PReq and PRes data may be invalid because PDO mappings may dif fer NMT CS EPL MODE error recognition for example loss of SoC or PReq always triggers the transition to NMT CS PREOPERATIONAL 1 The NMT CS READY TO OPERATE In this state the CNN signals that it is ready to operate to the MN It responds to the PReq query of the MIN by sending a PRes frame The NMT CS OPERATIONAL NMT StartNode command triggers the transition from NMT CS READY TO OPERATE to the NMT CS OPERATIONAL This is the nor
24. 14 3 4 15 3 4 16 3 4 17 3 4 18 3 4 19 3 4 20 EtherCAT objects Object Ox2011 Subindex 16 23 Register no to place in TxPDO 21 These registers contain the numbers that define the registers which are in the TxPDO 21 That is the register s which is transmitted from slave to master cyclically If some of these registers are changed it is necessary to issue a save in flash command and to re boot the device before the changes take effect Object Ox2011 Subindex 24 31 Register no to place in 21 These registers contain the numbers that define the registers which are in the RxPDO 2 That is the register s which is transmitted from master to slave cyclically If some of these registers are changed it is necessary to issue a save in flash command and to re boot the device before the changes take effect Object 0x2011 Subindex 32 38 These registers contain HW SW and communication information of the module Object Ox2011 Subindex 47 Digital outputs on module With this object the digital outputs can be controlled The value written to this object is directly shown on the digital outputs Output2 Output The availability of the outputs depends on the actual version of the module used Example MACOO EC4 only support Output Ol Object Ox2011 Subindex 48 Status bits This register is used for miscellaneous information about the module Bt 0 7 _ 0 1 No commu
25. 5 86 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors Appendix JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 87 6 1 6 1 1 6 1 2 6 1 3 88 Technical Data 4 EthernetIP Technical specifications Galvanic isolated OOMBit I O0Base Tx no termination necessary Network topology 100 m cable between slaves Connectors PWR power MI2 connector 5pin male MI2 connector 8pin female L A IN and L A OUT Ethernet MI2 connector 4pin D coded female Supply voltage CV 10 25V Current rating CV typical 150 max 250mA User inputs Input impedance 4 7k Input current 24V 5 mA MACOO EC4 EtherCAT Technical specifications Galvanic isolated OOMBit I O0Base Tx no termination necessary Network topology Line and tree possibly line recommended 100 m cable between slaves Maximum number of slaves 65535 Pass trough delay lt 415 Connectors PWR power MI2 connector 5pin male MI2 connector 8pin female L A IN and L A OUT Ethernet MI2 connector 4pin D coded female Supply voltage CV 10 25V Current rating 24V DC CV typical 150 max 250mA User inputs Input impedance 4 7k Input current 24V 5 mA MACOO EL4 Powerlink Technical specifications Galvanic isolated OOMBit I O0Base Tx no termination necessary Network topology Line and tree possibly line recom
26. AC address is placed here Output 32 Least significant bits of MAC address Object Ox2011 Subindex IP address This is the combined IP address and node ID of the device Only the node ID part is writeable the rest of the IP address is fixed Object Ox2011 Subindex 4 Netmask This is the netmask of the device The netmask is fixed 5 4 5 4 12 5 4 13 5 4 14 5 4 15 5 4 16 5 4 17 5 4 18 5 4 19 80 Ethernet POWERLINK objects Object Ox2011 Subindex 5 Gateway This is the gateway address of the device The gateway address is also fixed Object 0x2011 Subindex 6 Setup bits This register is used to setup how the module should react on different events Reserved 0 Ethernet error handling motor set passive mode 1 Ethernet error handling motor set velocity to 0 Object Ox2011 Subindex 7 Digital inputs on module With this object the status of the 4 digital inputs can be read Note Please notice that the number of inputs available is depending on which version of the module which is used Object Ox2011 Subindex 15 Command register Analogue to writing to object 0x2010 But this can be mapped in the RxPDO 21 if de sired Object Ox2011 Subindex 16 23 Register no to place in 21 These registers contain the numbers that define the registers which are in the TxPDO 21 That is the register s which is transmitted from slave to master cyclically If some of these re
27. AT objects 3 4 8 Object 0x2010 Subindex This object is used for sending commands to the module and is write only The possible commands are listed in the table below Command Function 0 101 Simultaneous reset of the motor and the module 0x110 Instructs the motor to save in flash memory and do a resync of internal com munication afterwards 0x80000000 Bit 0 30 of the command is transmitted to the motor register 211 motor com mand register 3 4 9 Object Ox2011 The module registers is mapped to object 0x201 The subindex 3 31 is R W the rest is read only 3 4 10 Object 0x2011 Subindex 1 5 Reserved for future use 3 4 11 Object 0x2011 Subindex 6 Setup bits This register is used to setup how the module should react on different events 0 Ethernet error handling motor set passive mode Output 1 Ethernet error handling motor set velocity to 0 3 4 12 Object 0x2011 Subindex 7 Digital inputs on module With this object the status of the 4 digital inputs can be read The availability of the inputs depends on the actual version of the module used Exam ple only support Input INI 3 4 13 Object 0x2011 Subindex 15 Command register Analogue to writing to object 0 2010 But this can be mapped in the RxPDO 21 if de sired 36 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 3 4 3 4
28. Bit 2 UV VSOLLO Set speed 0 if u volt Set velocity to 0 FNCERR Long Int Actual function error Function error limit If the function error passes this limit 26 FNCERRMAX Long Int the motor will be stopped and the FNC ERR in register EH Function error 35 will be set MIN P IST Long Int Software position limit positive Position limit max 29 DEGC Int IE Dere dens DEG Actual temperature Degree celcius DEGC x 0 12207 MAX P IST Encoder counts counts Software Software position limit negative limit negative Position limit min limit min Temperature limit Same scale as DEGC reg 29 31 DEGCMAX Long int If temperature gets higher than this limit the DEGC_ERR in register 35 is set The maximum allowed deceleration when a fatal error has occurred 1000 RPM s 3 598133 counts Sam 32 ACC EMERG Long Int Counts sample 16 ple Example To obtain 100000 RPM s Error acceleration ACC EMERG must be set to 360 Encoder counts or If the target position or velocity is reached within the tol ni pos windows 33 INPOSWIN Long Int encoder counts erance specified in this window the motor is in position At AUI d sample or at the velocity The number of samples the motor has to be within the ee Motor error status 35 ERR STAT Long Int Bit 0 I2T_ ERR Overload Overload it 1 FLW ERR Follow error Follow Error it 2 ERR Function error Function Error it 3 UIT ERR Regenerative error R
29. C400 amp 800 How to setup the module for a different new protocol Step Determine which Ethernet protocol you want to use Have in mind that your Ethernet module MACOO Ex4 may already be setup for a protocol Step 2 As shown the module is setup as a MACOO EL module with the Ethernet Powerlink protocol Choose the Update Firmware in the Updates menu to setup the module with another protocol Step 3 Make sure that the checkbox Show all files is checked Select the desired firmware such as EtherNet IP Note that there may exist more than one version Choose the newest version Press Start to download the selected firmware The status counter will now rise from O to 100 Step 4 When the download process is finished the status shows Done Also Current version has changed to the actual downloaded version meaning that the firmware in the module is now changed permanently Step 5 The module tab has now changed from MACOO EL to EthernetIP Step 6 The firmware version MAC address etc can be monitored on the module tab TT3039GB JVL Industri Elektronik A S User Manual TV Noname Main Registers Advanced H rsel Tests m MADDDEL Poner pu x Select fimmare v Show all es Version __ Hardwere SML B5 hime 1 SMLES MIS 34x SMCB5 1 02 SMCES MIS Hix 5MC85 mwane 1 01 5 34x
30. IST value is sent back in this word Head ward 1 10 Actual position Head Word 2 L 2 Actual velocity Head Word 3 20 Follow error Head Word 4 L b Motor load mean Head Word 5 35 Error status Actual velocity V_IST is sent back in this word Follow error the position error Motor load mean The mean load on the motor Error Status holds information regarding motion status and error status code if any ward 1 Operating mode Write Word 2 Requested position Word 3 5 Velocity Write Word 4 Acceleration Write Word 5 0 Selection Operating mode is used to enable disable the motor Values Passive mode 0 Position mode 2 Requested position Sets the P SOLL value Velocity sets the V SOLL requested velocity value The resolution is 100 RPM 277 counts sample Ie 1e Acceleration requested acceleration 1301768 Not used Any register inserted here 4 5 3 General considerations The register 35 in the motor holds information on the actual error status So it is crucial that this register is configured in the assembly object and thereby obtained and moni tored in the scanner In case of an error situation the motor will stop and the cause will be present in the register 35 and hence in the data This register also holds information on the motion status such as n position bit 4 Accelerating bit 5 Decelerating bit 6 For a c
31. MACOO EC4 4 amp MACOOEL4 Industrial Ethernet expansion modules for Servo Motors User Manual EtherNet IP EtherCAT ETHERNET EIE POWERLINK JVL Industri Elektronik A S LB0056 12GB Revised 10 8 2011 Important User Information Warning AN The MAC series of products are used to control electrical and mechanical components of motion control systems You should test your motion system for safety under all potential conditions Failure to do so can result in damage to equipment and or serious injury to personnel Please contact your nearest JVL representative in case of technical assi stance Your nearest contact can be found on our web site www jvl dk Copyright 2010 201 1 JVL Industri Elektronik A S rights reserved This user manual must not be reproduced in any form without prior written permission of JVL Industri Elektronik A S JVL Industri Elektronik A S reserves the right to make changes to informa tion contained in this manual without prior notice Similarly JVL Industri Elektronik A S assumes no liability for printing errors or other omissions or discrepancies in this user manual MacTalk and MotoWare are registered trademarks JVL Industri Elektronik A S Blokken 42 DK 3460 Birkered Denmark Tlf 45 45 82 44 40 Fax 45 45 82 55 50 e mail jvi jvl dk Internet http www jvl dk DeviceNet EtherCAT EtherNet IPO Modbu
32. Manual Ethernet expansion modules for MAC motors 4 2 4 2 2 4 2 3 Using non cyclic messages Example 1 We would like to set the motor into velocity mode This requires that the mode register 2 Oxl Velocity mode is Ox Position mode 0 2 etc All modes of operation is further described in the servo manual Package Class 0x64 Service 10 write data Instance 0x2 mode register in the motor Attribute Data 0 0 0x00 0x00 0x00 This will set the mode register in the motor into velocity mode Motor Register 2 If we choosed the Littleendian format we would form the data structure in this way Data 0x00 0x00 0x00 0x01 Now if we want to read a value from the motor we use the service code OxE Example 2 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 OxE write data Instance Ox5 mode register in the motor Attribute Now the response data is received Data 0x01 0x15 0x00 0x00 This value 1 15 is the decimal value 277 which corresponds to 00 RPM This is the de fault 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 accessabl
33. T amp technology group http www ether cat org JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 3 1 3 1 2 Introduction to EtherCAT Abbreviations Following general used terms are usefull to know before reading the following chapters 100 MBit Ethernet on twisted pairs CAN Controller Area Network CANopen Application layer protocol used in automation CoE CANopen over EtherCAT DC Distributed Clock EMCY Emergency Object EoE Ethernet over EtherCAT ESI EtherCAT Slave Information ESC EtherCAT Slave Controller ETG EtherCAT Technology Group EtherCAT Ethernet Control Automation Technologie IP Internet Protocol IP address the logical address of the device which is user configurable not used in EtherCAT MAC Media Access Controller MAC address the hardware address of the device not used in EtherCAT PDO Process Data Object for cyclic data SDO Service Data Object for acyclic data SII Slave Infirmation Interface XML eXtensible Markup Language used for the ESI file JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 25 3 2 3 2 1 3 2 2 3 2 3 3 2 4 26 Protocol specifications EtherCAT communication The EtherCAT fieldbus system is standardised by the EtherCAT user organisation ETG The driving force behind this is the german company Beckhoff GmbH Due to the a
34. User Manual Ethernet expansion modules for MAC motors 1 1 Introduction Industrial Echernet is becoming more and more popular as it offers Very fast response time Predictable delay times deterministic protocol Safe transmission of data Compared with most of the classic non Ether net based protocols the indstrial Ethernet offers state of the art performance The MACOO Ex4 Industrial Ethernet module can be configured by the end user to a number of dif ferent Ethernet protocols for instance EtherCAT Ether NetlP Ethernet POWERLINK More to come 5 83022 8 RET 00 50 C2 00 00 74 TT3001GB Main Features High speed communication O0Mbits sec 2 individual ports on the module offers Daisy chaining possibility Standard 12 circular industrial connectors Digital input 24V and digital output 24V for local use around the motor e Multiple alternative I O possibilities available on request OEM applications LED s for easy monitoring of operation sta tus Optional encoder I O Rough design Access to all internal motor parameters and registers possible No need of pre setup of the motor RS232 connection available for monitoring and setup use if desired 8 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors Hardware introduction 1 2 Overall hardware description All internal and external main conn
35. Word 4 Torque White Word 5 0 Ma Selection Apply and save ET Firmware Version 41 80 Builld 115 2 Press the Apply and save button for permanent storage of the EthernetIP settings 3 Switch off the 24V supply while connecting the Ethernet cable to the switch PLC 4 Re apply 24V set the PLC into RUN mode Now we should be able to control the motor 5 Start by setting the profile data such as Velocity acceleration and Torque According to the following 1 0 Data EN 200000 8000 S erva_1 0 Data 0 H 5 eryo 1 0 Data 1 H Servo 1 0 Data Servo 1 0 0 3 Servo_1 0 Data 4 TT3031GB Explanation 3 Requested position 200000 5 Velocity 8000 8000 2820 RPM 6 Acceleration 2 2 543 RPM s 7 Torque 512 512 150 0 No Selection value is not updated 62 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 4 9 Examples of applications Now we will set the motor into an active mode position mode find the Controller tag Mode enter 2 find the tag Set Mode enter Now the motor is active and will start moving to the entered position in the Servo O Data 0 which is assigned to the requested position register in the motor When the motor reaches the position it will stop and hold this position From MacTalk the actual mode see the status panel is changed from Passive to P
36. _ 196 IA OFFSET _ 187 IBOFFSET long KA bong int 19 KB 190 BLDEGIST _ toght _ 190 VEDEG _ tegi 192 UAVAL 19 UBVAL 194 UCVAL _ Long Int Internal busvoltage 1VDC 0 888798 198 U BUS Long Int Example U BUS 366 is equal to 325VDC at the in Bus voltage ternal bus UBUSOFFSET Lon Pr CVi TCO CV2 ___ 94 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 6 2 Motor registers Reg MacTalk no Width Description name wp Tine serialnumber ofthe MAG motor as HW_VERSION Hardwareversion pf ____ Longint Firmware checkgu JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 95 96 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 7 Index A 14 Air Cylinder mode 14 Analogue Input 14 Cables 18 Connectors 15 18 MI2 16 18 E Error output 8 Expansion modules MACO00 B1 B2 B4 12 18 Features 8 G GND 15 17 Grounding 15 16 In position output 8 Inputs See also AIN Multifunction 12 17 Pulse inputs 12 Introduction Features 8 IP67 18 M MI2 16 18 MACOO B 1 82 84 Expansion Modules 12 18 General analogue input AIN 14 General hardware
37. a communication cycle In the course of one clock cycle within which all nodes are addressed the MN sends Poll Requests PReq to all CNs one after another They reply immediately to the prompts with Poll Responses PRes The following time phases exist within one cycle Isochronous phase Asynchronous phase Idle phase The MN first sends Start of Cycle Frame SoC signal to all CNs to synchronize the de vices Payload data exchange then proceeds in the isochronous phase The asynchronous phase allows the transfer of large packets that are not time critical for example param eterisation data or transfer of IP based protocols like TCP or UDP The Idle phase can be 0 It s possibly for the MN to multiplex the timeslots in the isochronous phase in order to service some CN s more often than others During system start up the MN applies reduced POWERLINK cycle without the isochronous phase in order to configure the CNs with SDO communication For further information please refer to the Ethernet POWERLINK communication pro file specification EPSG DS 301 V 1 1 0 Ol pdf available at the EPSG website http www ethernet powerlink org Managing Node PReq PReq PReq PRes to CN 1 to CN 2 to CNn from MN PRes PRes PRes Async from CN 1 from CN 2 from CNn send Controlled Node gt Idle Phase Start of Cyclic PRes Poll Responce Sent from MN multi cast to all Controlled Nodes from MN Sent fro
38. ag and set this to Now the current position of the motor is seen in the Actual Position tag JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 63 64 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 5 MACOO EL4 POWERLINK module 7 MACOO EL4 POWERLINK module 65 7 Introduction to 66 7 2 Protocol sp cifications 69 15 CONS ONINO ys 73 7 4 Ethernet POWERLINK objects 76 7 5 Network Management Services 82 7 6 XML Device Description File 83 7 7 Examples JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 5 1 Introduction to POWERLINK Expansion module MAC00 EL4 front plate PA SN 83022 00 50 C2 00 0 7 _ TT3044GB 5 1 1 Introduction Ethernet Powerlink EPL is a proven technology working in real applications world wide It embraces standard Ethernet technology and infrastructure uses standard CAT5 shielded cabling and does not compromise standard Ethernet frames in order to achieve its results Ethernet Powerlink is a truly open technology independently managed by the Ethernet Powerlink Standardization Group http www ethernet powerlink org Powerli
39. area and a working counter WKC which is incremented by all EcherCAT nodes that are addressed by the telegram and have exchanged associated data 44 1498 bytes 8 bytes 14 bytes 2 bytes 10 bytes 2 bytes 4 bytes Preamble Ethernet header em wko n th EtherCAT datagram Checksum TT3007GB Sync managers Sync managers control the access to the application memory Each channel defines a con sistent area of the application memory The adapter module has four sync manager chan nels The mailbox protocol SDO s and process data PDO s are described later in this chapter Sync manager watchdog The sync manager watchdog monitors the output sync managers If the output data is not updated by the EtherCAT master within the configured time the watchdog will acti vate time out and change the state of the adapter module from Operational to Safe Op erational Note EtherCAT has been designed so that it provides no way for a slave to monitor the connection to the master if the slave gets no output data Note The drive reaction to a communication fault must be configured in the module write flag register object 201 subindex 6 motor set passive or motor set velocity 0 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 3 2 Protocol specifications 3 2 5 EtherCAT State machine Both the master and the slaves have a state machine with the states shown below
40. aspects 10 MACOO B4 cables 18 Power supply 13 RS232 15 MacTalk 15 Main Features 8 R RS232 MACOO BI B2 B4 15 Z Zero search 14 17 JVL Industri Elektronik A S User Manual Integrated Servo Motors 5 800 Index JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 800 98
41. at the value is represented as 32bit Service hex 10 Clase hex 54 Instance hex 5 Attribute hex Member hex Symbol Tag Request Data Each byte is 2 char hes value separated by a space 26 0000 08 04 TT3018GB Next we set the acceleration to be used We need the acceleration to be 20000 RPM s2 This value also needs to be scaled the factor is RPM s 0 0036 counts sample so in order to reach 20000 we need to send the value 72 0x00000048 Acceleration is instance 6 A SOLL Service hex 10 Class hex 64 Instance hex Attribute hex Member hex Symbol Tag Request Data Each byte 2 char hes value separated by space 26 3 00000049 aa TI3019GB 50 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 4 6 Configuration using different methods Then configure the maximum motor torque to be used The motor can reach a peak torque of 30096 the rated value This value corresponds to 1023 in the register We need 2596 so we write 255 0x000000FF to instance 7 T SOLL Service hex 10 Class hes 54 Instance hex 7 Attribute hex Member hex Symbol Tag Request Data Each byte it 2 char hes value separated by a space fie 26 TT3020GB And finally we send the command that saves the settings permanently in flash This is ba sically a matter o
42. ayout PWR Power input M12 5pin male connector JVL Cable WI1000 Isolation Signal name Description M12F5TO5N group Main supply 12 24VDC Connect with pin 2 Brown Main supply 12 24VDC Connect with pin 1 Control supply 12 24VDC DO NOT connect gt 25V to this terminal Main supply ground Connect with pin 3 Note P4 and P are each available at 2 terminals Make sure that both terminals are connected in order to split the supply current in 2 terminals and thereby avoid an overload of the connector Po Main supply ground Connect with pin 5 Continued next page JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 19 e 3 Connector description O s and interface M12 female connector JVL Cable Isolation WI1000 M12 group M8TO5N See note O1 Output 1 PNP Sourcing output 82282 TX RS232 interface Transmit terminal Leave open if unused 82282 RX RS232 interface Receive terminal Leave open if unused GND 1 2 3 Interface ground to be used together with the other signals in this connector Also ground for the analogue input AIN1 pin 5 Analogue inputi 10V or used for zero search 5 Digital input 1 12 32V tolerant 7 I O ground to be used with the I O terminals O1 and IN1 Positive supply input to the output circuitry O Connect 5 32VDC to this terminal if using the O1 output IN Ethernet port connector
43. clic data setup Head ward 1 2 Operating mode Head Word 2 0 Actual position Head ward 3 2 Actual velocity Read word 4 Actual terque Read Word 5 35 Error status vite Word 1 3 Requested position write Word 2 5 Velocity write Ward 3 6 Acceleration Write Word 4 Torque Write Ward 5 jo Selection TT3023GB The fixed sized assembly instances is divided into 5 read words and 5 write words 4 9 3 The RSLogix ladder program 3 different messages for both setting data and retrieving data from the motor All 3 mes sages are triggered by seperate variables from the controller tag list fr RSLogix 5000 Servoi in MAC400 Simple II ACD 1769 L23E QB1 19 11 MainProgram MainRoutine File Edit view Search Logic Communications Tools Window Help di 25 20 2 Py alal fun roe Pa TESA TA OE Redes g No Forces p Controller OK No Edits ao aj 4 40 40 0 Favorites amp Add On X Alarms Bi TimeriCounter I Controller Organizer Ix Ef i seele e a of fm HER pp alse JE D Controller Tags Read Pos SG 9 Controller Fault Handler Message Power Up Handler Message Control E DN5 E E Tasks ER2 5 68 MainTask 1 8 MainProgram 8 Program Tags Set Mode SG En MainRoutine Message Unscheduled Progra
44. ds for permanent storage Using this method the motor only needs to be setup once and is easy achievable from the scanner itself either as an initialization routine each time the PLC initializes and thereby avoiding the permanent storage in the motor or simply using a configuration rou tine that simply sends the required explicit messages to address the needed registers fol lowed by the message to save the settings permanently IP address and other network settings still needs to be setup using MacTalk Ex Setting up a motor sending messages explicitly We want to change the default motor settings and save them permanently into flash The following settings needs to be changed Velocity 2 Acceleration 3 Torque The registers needed to be addressed are Velocity V SOLL register 5 Acceleration A SOLL register 6 Torque T SOLL register 7 To address individual registers explicitly we use the class 0x64 for the purpose JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 49 4 6 Configuration using different methods First we change the Velocity setting we want the motor to spin with 1000 RPM The message for addressing V SOLL is formed We need to scale 1000 RPM to the correct value in the motor the factor is RPM 2 77 counts sample so we need to send the value 2770 0x00000AD2 The instance refers to the register number so we need to set instance to 5 V SOLL Please notice th
45. dvanced Ethernet technology used for EtherCAT amp in the future customers change from other fieldbus systems to EtherCAT or generally equip new plant models with EtherCAT 8 Communication on EtherCAT B is based on a master slave operation The update cycle between master and slave depends on the number of EtherCAT slaves the amount of process data of the individual slaves and the set update time of the master Due to the ring topology in every bus cycle only one telegram is sent on the bus The bus cycle time thus remains exactly the same in every cycle Slave addressing can be done in two ways e Auto increment addressing e Fixed node addressing With Auto increment addressing the master scans the net for slaves and the slaves are then addressed in the sequence they are physically present on the net With fixed node addressing the addresses that each node has programmed is used EtherCAT frame structure In EtherCAT the data between the master and the slaves is transmitted in Ethernet frames An EtherCAT Ethernet frame consists of one or several EtherCAT 9 tele grams each addressing individual devices and or memory areas The telegrams can be transported either directly in the data area of the Ethernet frame or within the data sec tion of a UDP datagram transported via IP The EtherCAT frame structure is pictured in the following figure Each EtherCAT telegram consists of an Ether CAT header the data
46. e using explicit messages also static data such as serial numbers network status etc are accessable These informations are accessable ac cording to the EtherNet IP standard and follows the implemented classes 1 0 4 OxF5 OxF6 These classes are explained in details in the Ether Net IP standard optained from www ODVA org and in For further info please See Objects accessible using Explicit messages on page 53 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 43 4 3 Using cyclic messages 1 4 3 1 Cyclic messages I O messaging also refered to as Implicit messages is used when data is needed fast and frequent That is fast dynamic changing data such as position velocity torque etc These data is send cyclic using the assembly class object 0x04 The JVL assembly consists of 5 I O words that is freely configurable This means that 5 input motor registers can be selected and another 5 motor registers for output purposes The terms Input and output is considered from the scanner so input is data flowing from the motor to the scanner and output is vice versa Cyclic data setup Read Word 1 10 Actual position Here the actual position is transfered Read Word 2 12 Actual velocity ole ala Read Word 3 20 Follow error Read Word 4 16 Motor load mean Read Word 5 35 Error status Write Word 1 2 Operating mode l lt The operation mode is writte
47. ections can be seen in the illustration below 1 2 1 O O C o c Q 2 LET e ejieu 39N49433 Jepuo235 LNO 4032euuo5 39N49433 NI V 1 22102 uonejos m 100 395 lo 5 I 2 dOXH 9100 396 ACTE STG synd3no pue s3ndui 22181 UOIJOWJOJU 10 IAIZOJUISIIAII JA 1NO 12030 90 10 sjpubis 34 IYOW 0 10JIIUUOD 13410 YIM 40 404 e 93 0u 226 9 UDI 5 3 Q0 IAD J DUu43 UI 34D sjoubis 95901 320N Ad Fij d AbT 008 00F2 VW A ddns 4e og uoisuedxo 3 009 UMd JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 10 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors General Hardware description JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 2 1 2 1 1 2 1 2 12 Module types Module types The MacMotor Ethernet modules are available for several Ethernet protocols The module used for each protocol has its own unique typenumber but is based on the exactly same hardware A neutral module where no protocol is installed however also exist Neutral module no protocol installed
48. egen Overload it 4 IN POS In position In position it 5 FLAG Accelerating Accelerating it 6 DEC FLAG Decelerating Decelerating it 7 PLIM_ERR Position limits error Position Limit it 8 DEGC_ERR Temperature error 4DEGCMAX Temp too high UV ERR Under voltage error Under bus volt it 10 UV DETECT Low voltage at the high volt bus Low bus voltage it 11 OV ERR Overvoltage error UB gt 450V Over bus voltage _ Motor over current Peak Error SPEED ERR Overspeed gt 3600RPM Overspeed DIS P LIM Software position limits disabled it 15 INDEX ERR Internal encoder error Internal error 1 it 16 OLD FILT ERR Filter setting not valid Internal error 2 it 17 U24V ERR Control supply has been too low Cntr Volt unstab Bit 18 SHORT CIRC M Current has been too high Short circuit Bit 19 AC gt 90VAC supply applied Bit 20 90 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 6 2 Motor registers Power zero search handling MacTalk is Width Description name CNTRL BITS Long Int Internal special bits Bit 0 RECORDBIT Controls the samplebuffer Bit 1 REWINDBIT Controls the samplebuffer Bit 2 RECINNERBIT Controls the samplebuffer Bit RELPOSPSOLL Relative move using P SOLL Reg move type Bit 4 RELPOSPFNO Relative move using P Reg move type Bit 5 SYNCPOSAUTO Syncronize int Position regs
49. elocity White Word 4 6 Acceleration White Word 5 0 Ma Selection Operating mode is used to enable disable the motor Values Passive mode 0 Position mode 2 Requested position Sets the P SOLL value Ie Ie Le Velocity sets the V SOLL requested velocity value The resolution is 100 RPM 277 counts sample Acceleration requested acceleration T13017GB Not used Any register can be inserted here 5 7 3 General considerations The register 35 in the motor holds information on the actual error status So it is crucial that this register is configured in the cyclic data and thereby obtained and monitored in the Master In case of an error situation the motor will stop and the cause will be present in the register 35 and hence in the data This register also holds information on the motion status such as n position bit 4 Accelerating bit 5 Decelerating bit 6 For a complete register list please see the chapter Motor registers page 89 The JVL motor is basically put into a working mode and into a passive mode where the motor axle is de energized by setting register 2 into either 0 passive mode or into one of the supported modes Example Velocity mode 2 Position mode etc So in order to Stop or Start the motor this register can be supported in the I O data or by sending an SDO message JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 8
50. er to refer to the same potential 5 The 5232 interface cable length should not exceed 10 metres Opto isolation is recommended if connection is permanent 113013GB Connectors To see the specific connector pin out please see the chapter Expansion module Ex4 connector description page 19 A finished RS232 cable also exist Please see Cables for the MACOO Ex4 page 2 I 18 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors e 3 Connector description Expansion module MACOO Ex4 front plate L A IN a Primary Ethernet Power supply channel oec gt 12 5pin male M 12 female 1 MM connector including Ethernet coded B LEER P primary supply and CVI D coded DSG 2 secondary supply and L A OUT Lu Secondary Ethernet channel I O s and 85232 interface M 12 female Y M 12 8pin female Ethernet coded Vos dii nna connector including D coded AUS 00 50 02 MEE 1 digital input and 1 digital Used when module lt output 1 analogue input 15 daisy chained TT3002GB 2 3 1 Expansion module MACOO Ex4 connector description The MACOO Ex4 offers IP65 protection and MI2 connectors which makes it ideal for au tomation applications where no additional protection is desired The 12 connectors of fer solid mechanical protection and are easy to unplug The connector l
51. essages to from object s in the device Assembly object class 0x04 Object that binds all IO data to a connection point TCP IP interface object class OxF5 Holds all information on the Ethernet connection such as the IP adress Network mask and GateWay Ethernet link object class Holds information on link specific counters and instances associated with the communi cation interface To gain access to the motor registers Class object 0x64 is used See section Objects accessable using Explicit messages for further details Objects acces sible using Explicit messages page 53 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 41 4 2 4 2 1 42 Using non cyclic messages Using non cyclic messages Explicit messages Non cyclic messages in the EtherNet IP domain is called Explicit messages This message type is typically used to perform configuration and other non time critical operations Explicit messages can be send as a connected or unconnected message All registers in the motor can be accessed explicitly using object class 0x64 The register range in the motor is from 1 255 all 32bit size For a complete register list please see Motor registers page 89 The object class 0x64 explained in details Service type and code supported Set Attribute SingleOx10 Get Attribute SingleOxE Instances supported 0x0 OxFF motor registers 255 JVL Industri Elektronik A S User
52. et the needed acceleration A SOLL A x 271 RPM s Ex We need the motor to accelerate with 100000 RPM s so A SOLL 100000 271 369 cnt smp 3 Now set the motor into velocity mode and thereby activate the motor Ex The motor needs to be activated by setting it into velocity mode so we need to set the mode register to the value Mode which is velocity mode now the mo tor will use the acceleration and the velocity just configured JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 47 4 5 Examples 4 5 2 Running Position control Running the motor in position control requires that the mode register is set for position control The following registers is of particular interest when position mode is used Actual position P IST register 10 Actual velocity A IST register 12 Follow error The actual position error register 20 Motor load mean average motor load register 16 Error Status register 35 Requested position P SOLL register 3 Requested velocity V_ SOLL register 5 Requested acceleration A SOLL register 6 In this mode the position is controlled by applying a requested position to the P SOLL register and the actual position is monitored in the P IST register The V _ SOLL and A SOLL registers sets the velocity and acceleration used when the actual positioning oc curs Cyclic data set data setup Actual position P
53. etermined by the mode in which the motor is set to operate Typically the inputs is used for controlling the velocity torque or position of the motor but the input is also used as digital input for zero search or in Air Cylinder Mode where it is used as trigger input for the movement done by the motor For further information concerning physical connections see the Expansion module MACOO Ex4 connector description page 19 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 7 2 1 Module types 2 2 5 25232 General description when using the IMACOO Ex4 module The RS232 interface is consid ered the main interface to the RS232 connection between a PC or central controller motor when the motor is set to MAC400 with a MACOO Ex4 module Mp the MacTalk MEN Central M ake sure that all Power supply dows software from a PC or Fr involved d h from any kind of controller us for example aPC ing a 5232 interface Opto isolation When connecting the RS232 interface to a PC or control ler the following rules must Screen connected to GND in each end be followed MAC400 Motor Only one motor can be with MACOO Ex4 connected at the interface line RS232 2 Use screened cable Interface Max 32VDC 3 Ensure that GND interface Power ls ground is also connected Sup 4 Ensure that all units have a proper connection to safety ground earth in ord
54. f set MAC400 or MAC800 The current MAC motor mode 2 MODE REG Long int see also register 37 Start mode Passive Velocity Position Gear Mode Analog Torque direct Analog Velocity Analog Velocity Gear 7 11 Reserved for special purposes Torque zero search Sensor type 1 zero search Sensor type 2 zero search Analogue velocity with deadband Velocity analogue torque Analogue gear Coil 20 Air cylinder 21 Analogue to position 3 P SOLL Long Int The commanded position 4 P NEW Long Int Offset position for position change Desired velocity 1 RPM 2 77056 counts sample 5 V_SOLL Long Int Counts sample 16 Example To obtain 100 RPM V_SOLL must be set to Max velocity 277 The desired nominal acceleration 1000 RPM s 3 598133 counts Sample A_SOLL Long Int Counts sample 16 Example To obtain 100000 RPM s SOLL must be Acceleration set to 360 7 T SOLL Long Int The maximum allowed torque 0 1023 1023 300 full peak torque E TUNG Longit Encoder counts INDEX OFFSET Long Int Encoder counts Distance from encoder index to ext sensor T Actual 10 P IST Long Int Encoder counts The actual motor position position 11 V IST 16 Long Int Counts sample 16 MI CE 16 samples Actual velocity 12 V_IST Long Int Counts sample Actual velocity 1RPM 0 17316 counts sample Position Torque 13 KVOUT Fixed 16 Overall servo filter inertia factor Load 14 GEARF 1 Long Int Gear output factor Used
55. f writing the save in flash command to the command register 211 in the motor The command is 2 and the instance is 21 OxD3 Value 0x00000002 Now the motor saves the setting and resets It is required to toggle the 24V power in order to do a internal synchronization Service hex Class hex 54 Instance hex 43 Attribute hex Member hex Symbol Tag Request Data Each byte is 2 char hex value separated by space 1 Da 26 19 00 00 00 04 TT3021GB zl JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 5 4 7 Using and Selecting an Ethernet switch Depending on the network size and requested package interval RPI a suitable switch must be used Also if multiple separated networks needs to be connected a switch is used Depending on the actual size of the network different requirements needs to be meet Generally using EtherNet IP with a fair package interval a Gbps switch is typical ade quate along with the following features Autonegotiation full duplex 100 MBit Port mirroring for network analyzing and troubleshooting purposes This feature makes it possible to route traffic out on a separate port connected to a network an alyzer for debugging purposes and general performance monitoring The JVL EthernerNetlP module has a small build in 2 port switch use full if a small amount of motors is connected in a daisy chaining topology The disadvantage
56. fault i in receive PDO 21 gt Slave gj NNNNE 3 4 2 Minimum cycle time The minimum cycle time is the minimum amount of time between each cyclic request PDO on the Ethernet If operating with values lower than those listed data loss will occur No of motor registers Motor series Motor series transmitted in each 50 MAC141 MAC400 and MAC800 direction The minimum cycle times is only valid if not sending any SDO requests while in any op erating mode MODULE registers can be appended as the last registers in the list at no extra timing cost If motor register 35 is not in the list it will be added internally anyway and has to be added to the minimum cycle time with 5ms if MAC050 MAC 41 and with 30us if MAC400 MAC800 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 33 3 4 EtherCAT objects 3 4 3 Service Data Objects SDO Service Data Objects SDOs are mainly used for transferring non time critical data for example identification configuration and acyclic data 3 4 4 Emergency Objects Emergency Objects EMCYs are used for sending fault information from the communi cation module and the drive to the EtherCAT network They are transmitted whenev er a fault occurs in the drive or in the module Only one Emergency Object is transmitted per fault EMCYs are transmitted via 5005 3 4 5 Object Dictionary An important part of the CoE
57. gisters are changed it is necessary to issue a save in flash command and to re boot the device before the changes take effect Object Ox2011 Subindex 24 31 Register no to place in 21 These registers contain the numbers that define the registers which are in the 21 That is the register s which is transmitted from master to slave cyclically If some of these registers are changed it is necessary to issue a save in flash command and to re boot the device before the changes take effect Object 0x2011 Subindex 32 38 These registers contain HW SW and communication information of the module Object Ox2011 Subindex 47 Digital outputs on module With this object the digital outputs can be controlled The value written to this object is directly shown on the digital outputs Output2 Output1 The availability of the outputs depends on the actual version of the module used Example MACOO EL4 only support Output I Ol JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 9 4 Ethernet POWERLINK objects 5 4 20 Object Ox2011 Subindex 48 Status bits This register is used for miscellaneous information about the module Bt 83 7 1 06 1 communication with 5 4 21 Object Ox2012 Object 0x2012 are for acyclic view or change of motor registers se register descriptions in the the chapter Motor registers page 89 JVL Industri Elektronik A S Use
58. h is typically very noisy Drive Drive Drive with with with EtherCAT EtherCAT EtherCAT module module module L A OUT L A IN L A OUT L A IN L A OUT EtherCAT master TT3007GB 32 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 3 4 EtherCAT objects 3 4 1 Process Data Object 21 PDO s Process Data Objects are used for cyclic transfer of time critical process data between master and slaves There is one receive PDO and one transmit PDO which is fully user configurable Tx PDOs are used to transfer data from the slave to the master and Rx PDOs to transfer data from the master to the slave lt is possibly to set up five 32 bit registers in each PDO The setup is done with MacTalk or SDO object 0x201 subindex 16 31 It requires a save in flash and a power cycle before the new configuration are used If the configuration of the PDO s is not altered by the user the MACOO EC4 module uses the default mapping shown in the tables below NB If an index is set to zero No selection then the following indexes is discarded Thereby computing resources in the drive are released which makes much faster cycle times possibly Please see next paragraph Default registers in transmit PDO 21 Slave gt Master Object index no Motor register short Motor register description IST Actual velocity De
59. ice Data Objects SDOs are mainly used for transferring non time critical data for example identification configuration and acyclic data 5 4 4 Object Dictionary An important part of the protocol is the Object Dictionary which is different objects specifying the data layout Each object is addressed using a 6 bit index and possibly a sub index There are some mandatory objects and some manufacturer specific objects The objects in the Object Dictionary can be accessed with SDO services Mandatory objects Index Read m hex Data Type only Description Contains information about the ke UNSIGNEDER pe device type This is the mapping error register Error and it is part of the emergency ob Register 1001 UNSJENEDS ject If some of the sub index are high an error has occured PP Generic error Mandatory ________ pk oae _____ 5 Overrun Device profile specific ew Des eee x gee norana Identity Contain genera information about tp ee Vendor ID contains a unique value allocated to each manufactor UNSIGNED32 Ox0117 117115 JVLs vendor ID Mandatory Product Code identifies a specific 0 0200 device version The MACOO EL4 has the product code 200h po d4 x JVL Industri Elektronik A S User Manual
60. ique typenumber after the protocol firmware is load ed Sheet with type labels for each Ethernet protocol Peel off the relevant label from the sheet and place it in this area The existing typenumber and LED texts will thereby be overwritten replaced uci your module has MOT been pre installed wilh protocol please add one of the io your module m order bo conform with the appropnale LED marking and ie nght module type number matching ihe prolooal you install SN 83022 00 50 C2 p D0 CO A TT3040GB Typenumber overview Type Ethernet Protocol MACOO EC4 EtherCAT 4 EtherNET IP 14 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 2 2 1 0 descriptions 2 2 1 Hardware overview Expansion module MACOO Ex4 front plate Neutral module for all the Ethernet protocols Module status indicators PWR L A IN 28 usus Power supply connector Primary Ethernet lie 12 5pin male and channel M 12 7 Green LED for indicating female D coded 2 MV ND 7 power applied and LED for showing dl EN activity I O L A OUT T EN I O s and 5232 interface or REN M 12 8pin female channel M 12 4pin gt MS connector including female Ethernet coded s 1 digital input and 1 digital D coded Used when v M output 1 analogue input module i
61. lash Two flashes with a period of 200ms followed by 1s off period Triple flash Two flash es with a period of 200ms followed by 1s off period Flickering Rapid flashing with a period of approx 50ms 10 Hz JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 73 9 3 Commisioning 5 3 2 Mechanical installation The network cables must be connected to the two M12 connectors marked IN and L A OUT on the module The cable from the MN is connected to either of the two ports In the line topology if there are more slave devices in the same line the next slave device is connected to the second port If there is a redundant ring the second port of the last slave device is connected to the second port of the MN See also the illustration in the chapter Introduction page 66 Standard CAT 5 FTP or STP cables can be used It is not recommended to use UTP ca bles in industrial environments which is typically very noisy 5 3 3 Quick start This section describes the steps to configure the PLC B amp R X20 1485 with B amp R Au tomation Studio PC software so that it can be used to control the drive Set node ID Connect the RS232 communication cable 2 Apply power to the motor and make sure the PWR LED 15 lit 3 Open MacTalk and select the MACOO EL Powerlink tab 4 Change the last number in the IP address node ID to one that doesn t conflict with other devices on the subnet
62. m MN multi cast to all nodes PReq Poll Request Start of Acyclic to CN n y Sent from MN uni cast to each Controlled Node Sent from MN multi cast to all Controlled Nodes 4 gj LER PRes Poll Responce Async Async data from CN 1 Sent from multi cast to all nodes send Sentbyany CN invited by Managing Node TT3035GB JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 69 5 2 Protocol specifications 5 2 2 Ethernet POWERLINK frame structure POWERLINK messages are encapsulated in Ethernet frames The length of the frame is restricted to the configured size in order to guarantee the cycle time Ethernet frames have a minimum length of 64 bytes and a maximum of 1518 exclusive preamble The Ethernet POWERLINK header contains only 3 bytes Message type destination ID and Source ID That leaves up to 1497 bytes of payload POWERLINK header 43 1497 bytes 8 bytes 14 bytes 1 byte 1 byte 1 byte 4 bytes TT3036GB 9 2 3 Ethernet POWERLINK CN State machine In Ethernet POWERLINK a Controlled Node starts up by a common initialization proc ess All the states are valid when the device is powered and they are sub states of the GS POWERED superstate NMT GS INITIALISATION After system start the device automatically assumes this state and network function ality begins NMT GS INITIALISATION and all its sub states are only internal
63. mac protocol or by LOADO Fixed16 the 81 3 4 nanoPLC module See also KVOUT register 13 LOAD1 Fixed16 Load register L2 see also register 81 LOAD2 Fixed16 Load register L3 see also register 81 LOADS Fixed16 fe 53 Load register L4 see also register 81 In position register Z1 Used with the fastmac protocol ZEROO Long Int or by MACOO R1 3 4 nanoPLC module See also INPOSWIN register 33 us ZERO1 Long Int In position register Z2 see also register 81 Z2 87 ZERO2 Long Int In position register Z3 see also register 81 Z3 ZERO3 Long Int ______ In position register Z4 see also register 81 Registers 89 to 120 are reserved for future purposes 92 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 6 2 Motor registers Only MAC400 amp 800 Filters main 6 th order servo filter Reg MacTalk no Width Description name Ss cn 12 KFF4 14 15 16 127 1 8 129 kvexa 1 9 _ Kvxe 1 2 ewe gt 138 Kkvvs a e 194 135 Kvva 136 187 Kvvi ea 138 Kkvvo 19 0 Fea Pe _ 44 Krxe 45 KP e o 46 kv
64. mal operating state of the CN 70 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 5 2 Protocol specifications The NMT CS STOPPED This state is used for controlled shutdown of a selected CN while the system is still running In this state the CN does not participate in cyclic frame exchange but it still observes SoA frames NMT GS INITIALISATION NMT CS NMT CN State Machine NMT CS V NOT ACTIVE NMT CS EPL MODE Error condition p pp x NMT CS PRE OPERATIONAL 2d _ 5_ READY TO OPERATE StartNode f NMT_CS_ 5 OPERATIONAL Jj C NMT CS NMT StopNode 1 SUGD TT3037GB Communication type E No Listen only POWERLINK Cycle communication W JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 7 5 2 Protocol specifications 5 2 4 Application layer communication The application layer communication protocol in Ethernet POWERLINK is based on the CANopen 05 301 communication profile The protocol specifies the Object Dictionary in the adapter module in addition to communication objects for exchanging cyclic proc ess data and acyclic messages The MACOO ELx module uses the following message types Process Data Object
65. mended 100 m cable between slaves Maximum number of slaves CN s per segment 239 Pass trough delay data not ready to be present in this user manual version Connectors PWR power MI2 connector 5pin male MI2 connector 8pin female L A IN and L A OUT Ethernet MI2 connector 4pin D coded female Supply voltage CV 10 25V Current rating 24V DC CV typical 150 max 250mA User inputs Input impedance 4 7k Input current 24V 5 mA JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 6 2 Motor registers When using the RS232 or RS422 serial links it is possible to access all the internal regis ters in the motor This gives the same possibilities as using the general installation and monitoring program MacTalk In addition to these features many more are accessible In total the MAC motor contains more than 200 internal registers such as nominal velocity actual position etc Important note All registers can be read without any risk but please note that several registers are not for the normal user and damage may occur if the contents of these registers is changed These registers are marked in grey in the table below Bit13 if set Beta version Width Bit14 Reserved Main Control MacTalk Description name Reg 5 Shows the actual version of the firmware Bit0 5 Minor version Bit6 12 Major version status bar PROG VER Long int Bit15 i
66. ms Message Control 1 29 Motion Groups Ungrouped Axes Add On Instructions E1 G3 Data Types User Defined 9 og Strings Og Add On Defined 2 OR Predefined H E Module Defined 3 Trends 2 23 Configuration 51 9 CompactLogix5323E QB1 System 4 1769 L23E QB1 Servol Ed 1769 L23E QB1 Ethernet Port LocalENB 1 85 Ethernet 1769 L23E QB1 Ethernet Port LocalENB 8 ETHERNET MODULE Servo 1 TT3024GB 88 CompactBus Local 2 8 Embedded 1 0 342158 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 57 4 9 Examples of applications 4 9 4 Message descriptions Msgl reads information from the motor and is setup in the following way Reads GET ATTRIBUTE SINGLE the actual position register in the motor instance 10 and stores the 4 byte value in the ACTUAL POSITION tag Service Get Attribute Single Source Element Type Source Length IG Le Claes _ zD Stores the value Register 10 actual position into this tag O Enable Enable Waiting O Start ap Done Length 4 C3 Error Code Extended Error Code Timed Out Error Path Error Tert Annuller Anvend Hj lp Please notice the mixed decimal and hexadecimal notation used TT3025GB 58 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors
67. n in the ET AE 5 motor Write Word 2 b Acceleration Write Word 3 5 Velocity Write Word 4 Torque Write Word 5 3 Requested position All words are 4 bytes In the example shown above the 5 read words data read from the motor are Motor register 10 Actual position The actual motor position Motor register 12 Actual velocity The actual velocity of the motor Motor register 20 Follow error The actual follow error the motor is experienc ing Motor register 16 Motor load mean The load the motor is experiencing over time Motor register 35 Error status Bit field that holds both error information and status of movements etc The 5 write registers are configured to hold the following data Motor register 2 Operating mode 0 Velocity 2 position etc Motor register 6 Acceleration The requested acceleration to be used Motor register 5 Velocity The requested Velocity to be used Motor register 7 Torque The max allowed Torque to be used Motor register 3 Requested position The requested position if operating mode 2 position For a complete register list please see Motor registers page 89 44 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 4 4 Commissioning 4 4 1 Indicator LED s description The LED s are used for indicating states and faults of module There is one power LED two link activity LED s one for each Etherne
68. n modules for MAC motors 5 7 Examples 5 7 2 Running Position control Running the motor in position control requires that the mode register is set for position control The following registers is of particular interest when position mode is used Actual position P IST register 10 Actual velocity _ IST register 12 Follow error The actual position error register 20 Motor load mean average motor load register 16 Error Status register 35 Requested position P SOLL register 3 Requested velocity _ SOLL register 5 Requested acceleration A SOLL register 6 In this mode the position is controlled by applying a requested position to the P SOLL register and the actual position is monitored the P IST register The V _ SOLL and A SOLL registers sets the velocity and acceleration used when the actual positioning oc curs F le eei saiu Actual position P IST value is sent back in this word Head ward 1 10 Actual position Head ward 2 1 2 Actual velocity Head Word 3 20 Follow error Head Word 4 1 b Matar laad mean Head Word 5 35 Errar status Actual velocity V IST is sent back in this word Follow error the position error Motor load mean The mean load on the motor Error Status holds information regarding motion status and error status code if any Write word 1 2 Operating mode Write Word 2 E Requested position Write Word 3 5 V
69. nformation C Show Hidden Devices Show Sub Groups TT3005GB 8 The device should now appear in the left side of the TwinCAT window with a tiny JVL logo 9 Press F4 Reload I O devices and select the JVL device on the left side of the win dow 10 The L A IN LED should now flashing and the process data should now appear on the bottom right side of the TwinCAT window Continued next page JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 3l 3 3 Commisioning By pressing the CoE online tab it s possibly to inspect the CANopen objects and modify motor and module parameters y Untitled TwinCAT System Manager File Edit Actions View Options Help Deg Bm S ss we SYSTEM Configuration PLC Configuration 1 0 Configuration B 1 0 Devices Device 1 EtherCAT Device 1 Image Device 1 Image Info QT Inputs Outputs Name Flaas Value lt General EtherCAT Process Data Startup CoE Online Online Auto Update Single Update Show Offline Data Al Object Online Data Module OD amp oE 0 3 3 3 InfoData 1 418 Mappings TT3006GB Ready Name 11 Byte In 0 11 Byte In 1 11 Byte In 2 7 1 Byte In 3 Q1 1 Byte In 4 11 Byte In 5 11 Byte In 6 11 Byte In 7 11 Byte In 8 1 1 Byte In 9 11 Byte In 10 11 Byte In 11 Q1 1 Byte In 12
70. nication with Object Ox2012 Object 0x20 2 are for acyclic view or change of motor registers se register descriptions in the chapter Motor registers page 89 EtherCAT Slave Information file EtherCAT Slave Information file ESI isa XML file that specify the properties of the slave device for the EtherCAT master and contains information on the supported com munication objects EtherCAT Slave Information files for JVL drives are available through your local JVL representative If TwinCAT is used for master then the XML file shall be copied to the folder TwinCAT lo EtherCAT JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 37 38 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 4 4 EthernetiP module 7 MAC00 EI4 EthernetlP module 39 7 1 7 2 7 3 7 4 7 5 7 6 7 7 7 8 7 9 Introduction to EthernetlP 40 Using non cyclic messages 42 Using cyclic messages l O messages 44 GOMMMISSIONING ie 45 2e 47 Configuration using different methods 49 Using and Selecting an Ethernet switch 52 Objects accessible using Explicit messages
71. nk operates as a protected segment by design and connects to a non determin istic Ethernet network via a gateway router device This gateway acts as a defensive bar rier against attacks by providing firewall security measures 66 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 9 1 Introduction to POWERLINK Unlike standard Ethernet the Slot Communication Network Management SCNM en sures that only one node is accessing the network at a time The schedule is divided into an isochronous phase and an asynchronous phase During the isochronous phase time critical data is transferred while the asynchronous phase provides bandwidth for the transmission of data that is not time critical The Managing Node grants access to the physical medium via dedicated poll request messages As a result only one Control led Node CN has access to the network at a time and thus no collisions occur Ethernet POWERLINK applies the same protocol technology as CANopen It defines SDOs Service Data Objects PDOs Process Data Objects and the Object Dictionary structure to manage the parameters For general technical data please see MAC00 EL4 Powerlink Technical specifications page 88 Legacy ethernet EPL Router Gateway CN Ethe
72. of this approach is that the package RPI timing is reduced as each motor needs to handle the incoming traffic for the other motors connected on the line 52 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 4 8 Objects accessible using Explicit messages 4 8 1 Type definitions UINT l6bit DINT 32bit STR String of ASCII chars 4 8 2 Identity object class 0x01 Holds data on different module specific data Instance Access Data type Description Vendor ID UINT JVL vendor ID 936 0x3A8 5 fa Sms 5 R Product name STR WAGEN See the EtherNet IP spec for further details section Vol2 sect 5 3 Supported Services Ox Attribute All OxlO Set Attribute Single OxE Get Attribute Single JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 53 4 8 Objects accessible using Explicit messages 4 8 3 Assembly object class 0x04 Holds pre configured motor registers to be accessed Instances 0x64 Write Data to motor register 0x65 Read motor register data Get Set Assembly 20 bytes Get Set all assembly data 4 Bytes transferred in assembly Supported Services OxlO Set Attribute Single OxE Get Attribute Single This object can be used to access the predefined registers configured from MacTalk They are also accessed when using the implicit connection cyclically If other regi
73. omplete register list please see Motor registers page 89 The JVL motor is basically put into a working mode and into a passive mode where the motor axle is de energized by setting register 2 into either 0 passive mode or into one of the supported modes Example Velocity mode 2 Position mode etc So in order to Stop or Start the motor this register can be supported in the I O data or by sending an explicit message 48 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 4 6 Configuration using different methods Basically a JVL motor works by loading a configuration into RAM memory from the non volatile flash memory when 24V power is applied and the motor is initialized The motor only holds one configuration and this configuration can be stored into the NV flash memory Several approaches can be used to configure the motor with data and finally saving them permanently in the flash A very general approach could be by using the PC based software tool MacTalk which offers both basic motor setup and control and the possibility to save all parameters in a separate file for backup purposes This software package utilizes the serial connection to communicate with the motor from any standard Windows PC Configuration over EtherNet IP is possible by using explicit messages to address each register to be setup and then command the motor to save the configuration in flash af terwar
74. op up menu 7 Right click IF3 in the opened CPU POWERLINK window and click Insert in the pop up menu 18 Select MACOO ELx situated under POWERLINK devices and click Next 19 Enter the node ID of the device set earlier with MacTalk and optionally a name and click Next 20 The MACO00 ELx should now be visible in the physical view of the project explorer window Building project and transfer to PLC 21 Select Build configuration in the Project menu 22 When the build is finished then click the Transfer button 23 There may appear a warning Just ignore and click OK Investigating cyclic data 24 Right click MACOO ELx in the physical view of the project explorer window and click Open Mapping 25 n the View menu click Monitor 26 You should now be able to see the cyclic I O registers like in the below picture 27 If Force is checked for the cyclic outputs then it s possibly to set register values in the Force Value column that is transferred to the motor Start motor 28 If the default register settings is not changed it is possibly to start motor by entering values in the Force Value column 29 Enter 1023 in OUT FourthEntry Torque 300 30 Enter 1000 in OUT ThirdEntry 477 RPM if MACI 40 3l Enter in OUT FirstEntry Mode Velocity C projects 20 POWERLINK Master POWERLINK Master apj POWERLINK Master Automation Studio V 3 0 81 18 amp 1 5 451096 File Edit View Insert Open Project Debug So
75. osition and the motion progress can be followed Remember to change the set Mode tag back to 0 to stop the sending of Msg2 messages Logix 5000 tag list MacTalk status bar O o mix Status Motor status Sstual velocity Actual position Motor load mean Regenerative load Temperature 0 Counts 4 0 36 Inputs Bus voltage Control voltage Velocity of input 313 Volts 24 Volts 0 Cts Smp vu AR Analogue input AIN 1 0 32 Volts arve 11 Data du 4 necis Analogue input AIN2 0 40 Volts Sere z 1 0 management 11 1 2000000 a 1 Semo 11 Data Decem RES 3F 8eneo 1 2 M E 11 Daali 52430 Decima Ei Servn 10 Gave TODA 100 eve 100441 sevo 0 Sema 1 0 0543 Servo 10 043 Changing the Servo O Data 0 tag will result in an immidiate repositioning of the axle in the motor This value is defined in the IO assembly and is interchanged cyclic To stop the motor set Mode 0 and set Set Mode to apply the mode set ting Reset Set Mode to 0 again to stop sending Msg2 messages 7 To activate the explicit message Msgl set the commanded position to a far greater value For example 200000000 as illustrated below EJ 5 1 0 Data cH Serva 1 0 Data o Ral 20000006 TT3032GB 8 Find the Read Pos t
76. otors 2 1 Module types Analogue input connection at the M AC motor mounted with MACOO Ex4 module Connected to a external controller Position or MAC motor M ake sure that all velocity M Ex4 involved units are controller connected to the same potential 10V out EEE DO seren ep eod o Note screen only connected to signal source Connected to a potentiometer NW If only 24V supply is available MAC motor M ake sure that all insert a 2 7k resistor here M ACOO Ex4 involved units are connected to the same potential Power supply T AINT analogue input 10VDC LJ GND ground 2kOhm potentiometer Note screen only JVL typeno POT2K connected to signal source This example only covers 0 10V but other configurations do of course also exist such as 0 5V or 10V Connected to a zero search switch MAC motor M ake sure that all involved units are Ex4 connected to the same Zero search switch potential gt AINT analogue input Power supply GND ground 10 32VDC TT3012GB Note Do not apply voltages higher than 32V to the analogue input AIN 2 2 4 Using the analogue input When a MACOO Ex4 module is mounted in the MAC400 or MAC800 motor the logue inputs is available in the same manner as in the basic motor itself The analogue inputs can be used for several applications and the function of the analogue input is d
77. pansion modules for MAC motors 27 3 2 Protocol specifications 3 2 6 CANopen over EtherCAT The application layer communication protocol in EtherCAT is based on the CANopen DS 301 communication profile and is called CANopen over EtherCAT CoE The pro tocol specifies the Object Dictionary in the adapter module in addition to communica tion objects for exchanging cyclic process data and acyclic messages The EtherCAT module uses the following message types Process Data Object PDO The PDO is used for cyclic communication in other words process data Service Data Object 500 The SDO is used for much slower acyclic data transmission Emergency Object EMCY The EMCY is used for error reporting when a fault has occurred in the module or in the drive 28 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 3 3 Commisioning 3 3 1 Indicator LED s description The LED s are used for indicating states and faults of module There is one power LED two link activity LED s one for each Ethernet connector and 2 status LED s Indicator and label overview General status indicator Error indicator Power indicator Line activity indicator Line activity indicator 00 50 C2 00 0 7 TT3010GB address Hardware serial number LED TED ren Son uu valid cw L A IN Green Ethernet connection Sonic ced No valid 2i s L A OUT Green E
78. phase of the cyclic commu nication The CN responses with a PollResponse frame when it receives a PollRequest from the MN SCNM Slot Communication Network Management In a POWERLINK network the MN allocates data transfer time for data from each node in a cyclic man ner within a guaranteed cycle time Within each cycle there are slots for Is ochronous Data and for Asynchronous Data for ad hoc communication The SCNM mechanism ensures that there are no collisions during physical network access in any of the networked nodes thus it provides determinis tic communication via Legacy Ethernet SDO Service Data Object for acyclic data SoA Start of Asynchronous POWERLINK frame type SoC Start of Cyclic POWERLINK frame type TCP Transfer Control Protocol an IP based protocol used widely on the inter net UDP User Datagram an IP based protocol used widely on the internet XDD File extension for the device description file XML Extensible Markup Language used for the device description file 68 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors De 5 2 1 Protocol specifications Ethernet Powerlink communication In an Ethernet POWERLINK network one of the nodes for example a PLC is designat ed to function as the MN the master in the network All other devices operate as CINs slaves in the network The MN defines the clock pulse for the synchronization of all de vices and manages the dat
79. plicit messages not time critical and I O messages time critical In the motion control world time critical data would be actual position actual status and actual speed and actual torque where data not time critical would be such as motor tem perature and setup parameters EtherNet IP is object based similar to DeviceNet and follows the standards issued by ODVA For more information on EtherNet IP please visit www ODVA org for further details on EtherNet IP and to get the EtherNet IP standard specification issued by ODVA The JVL implementation supports manufacture specific objects to gain access to each register in the motor 40 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 4 1 4 1 2 4 1 3 4 1 4 4 1 5 4 1 6 4 1 7 Introduction to EthernetiP specification The JVL implementation supports manufacturer specific objects to gain access to each register in the motor Supported standard EthermetIP classes dentty Object das Message router object class TCP IP interface object class Ethernet link object class On top of this the JVL manufacture specific class object 0x64 has been added Identity object class 0x01 Holds information about the JVL device on the network Typical used by other devices to identify devices on the network for further specification please refer to the EtherNet IP appx Message router object class 0x02 Handles all m
80. protocol is the Object Dictionary which is different objects specifying the data layout Each object is addressed using a 6 bit index and possibly a sub index There are some mandatory objects and some manufacturer specific objects The objects in the CoE Object Dictionary can be accessed with SDO services Contains information about the device type This is the mapping error register Eso and it is part of the emergency ob Banister ject If some of the sub index are 9 high an error has occured See also section 4 3 21 Mandatory 3 4 6 Mandatory objects Manufacturer device name Manufacturer hardware ver sion Manufacturer software Example Version x x version Contain general information about the module Number of entries Mandatory Vendor ID contains a unique value allocated to each manufactor 117h is JVLs vendor ID Mandatory Product Code identifies a specific UNSIGNED32 0x0200 device version The MACO0 EC4 has the product code 200h 34 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 3 4 EtherCAT objects 3 4 7 Manufacturer specific objects The manufacturer specific objects provides access to all module registers and all motor registers as well as a module command object 08 only Description use x emm O i i e Op 2 ose X ewsebtoMACaddess pf
81. r Manual Ethernet expansion modules for MAC motors 8l 3 9 82 Network Management Services Ethernet POWERLINK Network Management NMT is node oriented and follows a master slave relationship MACOO ELx is administered as an NMT slave by the master Ethernet POWERLINK defines five categories of NMT services NMT State Command Services NMT Managing Command Services not supported NMT Response Services NMT Info Services not supported NMT Guard Services not supported NMT State Command Services The MN controls the state of the CN via NMT State Command Services See section Ethernet POWERLINK state machine for more information NMT Response Services Response Services are used by the MN to query NMT information from the CN such as current state error and setup data Ethernet POWERLINK specifies the follow ing NMT Response Services NMT State Response IdentResponse StatusResponse Via NMT State Response service the CNs signals their states to the IdentResponse Service is used by the MN to identify configured but unrecognized CNs at system start up or after loss of communication See Appendix IdentResponse Frame for more infor mation The StatusResponse Service is used by the MN to query the current status of CNSs that is not communicating isochronously It is used for error signaling in runtime If an error occurs the EN Error New flag in the PRes frame is toggled This notifies the tha
82. rnet hub TT3033GB _ JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 67 3 1 Introduction to POWERLINK 5 1 2 Abbreviations Following general used terms are useful to know before reading the following chapters 100 MBit Ethernet on twisted pairs ASnd Asynchronous Send POWERLINK frame type CAN Controller Area Network CANopen Application layer protocol used in automation CN Controlled Node slave on Ethernet Powerlink network EN Exception New flag in POWERLINK frame EMCY Emergency Object EPL Ethernet PowerLink EPSG Ethernet PowerLink Standardisation Group ID Identifier IP Internet Protocol IP address the logical address of the device which is user configurable MAC Media Access Controller MAC address the hardware address of the de vice MacTalk windows PC based program supplied from JVL This is an overall program to install adjust and monitor the function of the motor and a module in stalled in the motor MIN Managing Node master on Ethernet Powerlink network NAT Network Address Translation used in EPL router to reach destinations outside EPL segment NMT Network Management PDO Process Data Object for cyclic data PReq Poll Request A frame used in the isochronous phase of the cyclic commu nication With PollRequest the requests the to send its data PRes Poll Response A frame used in the isochronous
83. rs Attr ID Access Name _______ Data type Description 1 OxE 0x10 Get Set register DINT Get Set the specified motor register Supported Services 10 Set Attribute Single OxE Get Attribute Single JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 55 4 9 Examples of applications 4 9 1 Introduction The following pages contains an example of how the MAC motor can be implemented in an EtherNet IP network 56 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 4 9 Examples of applications 4 9 2 Rockwell RSLogix example 1 This is a simple example demonstrating the usage of both explicit messages and semblies to control JVL MAC400 servo motor This example holds a few tags to control the inputs and outputs and a 3 rung ladder pro gram to demonstrate the explicit message usage With this example it is possible to control the positioning of the motor using the Position mode and set profile data such as velocity acceleration and torque parameters using the IO assembly The example is developed for use on a CompactLogix L23E PLC using the Rockwell Logix500 software package and MacTalk from JVL The JVL MacTalk application is used to setup the IO assembly to fit the example Although this example expects default setup in the JVL motor the IO assembly needs to be setup according to the following MacTalk setup located at the EthernetlP tab Cy
84. s daisy chained 00 00 74 MAC Address Serial number Each module is having its own Eeach module have its own unique M AC address used TT3038GB unique serial number which to identify it on the Ethernet can be used for determine network The M AC address can also be read electronically hardware version etc 2 2 2 External signals available at the 4 Following signals are available at the MACOO Ex4 module IN and OUT connector Ethernet connection IN is connected to the upstream master OUT can be used downstream for the next motors units in the chain e I O connector analogue input 10V Can be used as input for the zero search sensor or as general analog input for speed or torque control depending on the what the actual operation mode in the motor has been setup for Ol user output Can be used as dedicated in position output default or as general output con trolable over the Ethernet interface RS232 Interface Serial unbalanced interface for connection to a PC or a controller The protocol is similar to the USB or RS485 interface which means that all registers parame ters in the motor can be monitored or changed RS232 is not recommended for long distances gt l 0m User input 1 Can be used as general input which can be read over the Ethernet interface I O supply and gnd IO and O Used as ground and supply for the user
85. s9 PROFINET SERCOS interface9 Is a registered trademark of CAN in AUTOMATION International Users and Manufacturers Group e V CiA N rnberg 5 a trademark of ODVA Open DeviceNet Vendor Association Inc Is a registered trademark and a patented technology of Beckhoff Automation GmbH Verl Bundesrepublik Deutschland formerly Elektro Beckhoff GmbH 5 a trademark of ODVA Open DeviceNet Vendor Association Inc Is a registered trademark of Schneider Electric Is a registered trademark of PROFIBUS International Karlsruhe Is a registered trademark of SERCOS International e V Suessen Germany Contents Introduction d EE AA TT kE IntrodictiO b a 8 Introduction 2 General Hardware description I I 2 4 Module LY DOS seer 12 2 2 P description surr 15 2 3 Connector description vadere 19 24 Cable accessories GT 21 MACOO ECA EtherCAT 9 module 00000000000000000000000000000000 23 3 1 Introduction to EtherCATO 24 3 2 Protocol specifications tn Een E 26 3 3 29 3 4 Ether CAT oti n 33 4 MACOO EIA EthernetIP module 00000000000000000000000000000000000 39 4 1 Introduction to EthernetlP 40 4 2 Using non cyclic messages rrrrrrnnnnnnnvvvnvnnnnn
86. sition register P2 see also register 49 55 Poss Encoder counts _ Postion register P4 see also registert _____ so Poss longi Encoder counts _ PositonregiserPo seealsovegisterd _____ Pe Poss Encoder counts _ Postion register see also register4o me Velocity register V1 Used with the fastmac protocol VELO Long Int Counts sample 16 by the MACOO R1 3 4 nanoPLC module See also V SOLL 5 21 _ _ 68 veis Countsisampler VeociyregerVA seesisoregstorS m vea eno gtr V5 soe aso regeres vs v Acceleration register A1 Used with the fastmac proto ACCO Long Int Counts sample 16 col or by the MACOO R1 3 4 nanoPLC module See also A SOLL register 6 AJOJN ACC1 Long Int Counts sample 16 Acceleration register A2 see also register 73 2 Long Int Counts sample 16 Acceleration register A3 see also register 73 Long Int Counts sample 16 Acceleration register A4 see also register 73 Torque register T1 Used with the fastmac protocol or 77 TQO Long Int by the MACOO R1 3 4 nanoPLC module See also T1 T SOLL register 7 Longint Int Torque register T2 see also register 77 78 T2 79 Tta o O Long Int BU Torque register T3 see also register 77 80 Long Int 0 Torque register T4 see also register 77 T4 Load register L1 Used with the fast
87. sters than the one defined in the assembly object needs to be accessed then the class 0x64 needs to be used This class accesses each register in the motor for a more dynamically way of controlling registers explicitly The vendor specific class 0x64 is specified in details later in this chapter 4 8 4 TCP IP object class OxF5 Holds data on different module specific data Access Name Data type Description DINT Status bi fel Configuration capability _ DINT DINTbitfield 5 OxE OE Pryscalinkobeet See the EtherNet IP spec for further details section Vol2 sect 5 3 Supported Services Get Attribute OxlO Set Attribute Single OxE Get Attribute Single 54 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 4 8 Objects accessible using Explicit messages 4 8 5 TCP IP object class OxF6 Holds information for a IEEE 802 3 communication interface Access _______ type Description Interface speed DINT Speed in Mbit s ot e oio interface cono onr ewe See EtherNet IP spec for further details Vol2 sect 5 4 Supported Services Get Attribute 10 Set Attribute Single OxE Get Attribute Single 4 8 6 Vendor specific JVL object class 0x64 Holds preconfigured motor registers to be accessed Instances 255 Motor registe
88. sters the assembly object needs to configured From MacTalk the setup is configured as this Cyclic data setup Head ward 1 2 Actual velocity The actual velocity is transferred in the 1 word Head Word 2 Actual position Head Word 3 1 98 Bus voltage Head Word 4 Actual torque Head Word 5 35 Error status 4 The 5 word holds the data from the error status register This data is a bitfield structure holding both motion related information and present error type The operation mode is set in the 1 Word O passive mode and 1 Velocity mode Use passive mode to stop the motor and velocity mode to start the motor The requested velocity is set in the 3 word The requested acceleration is set in the 5 word Write Word Operating mode Write Word 2 Requested position write Word 3 5 Velocity Write Word 4 Torgue Write Word 5 6 Acceleration 113016GB With the settings illustrated above we initiate the velocity mode by writing I to the first word value this is velocity mode From the scanner the registers is accessed using the assembly object and accessing the registers R W on words 1 5 Since different PLC s have different methods of implementation the basic steps is de scribed in the following Set the needed velocity V SOLL V x 2 77 rpm Ex We need the motor to run with constant speed of 1200 RPM So V SOLL 1200 2 77 433 cnt smp 2 S
89. t an error has occurred and the MN polls the CN for a StatusResponse that in cludes error information JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 9 6 XMIL Device Description File XML Device Description Files XDD are XML files that specify the properties of the slave device for the Ethernet POWERLINK master MN The description files contain information on the supported communication objects XDD files for JVL Drives are avail able through your local JVL representative and http www jvl dk JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 83 9 7 Examples 9 7 1 Running Velocity control To use the JVL motor in velocity mode the following registers are basically of interest Mode Mode register register 2 V SOLL Velocity register 5 A SOLL Acceleration register 6 Error Status Error and status register 35 UN So to control these registers the cyclic data needs to configured From MacTalk the setup is configured as this Cycle data setup Head ward 1 2 Actual velocity The actual velocity is transferred in the 1 word Read Word 2 1 0 Actual position Head ord 3 96 Bus voltage Head ard 4 1 Actual tarque Head Word 5 35 Error status The 5 word holds the data from the error status register This data is a bitfield structure holding both motion related information and present error type
90. t connector and 2 status LED s Indicator and label overview General status indicator Error indicator Power indicator Line activity indicator Line activity indicator 00 50 C2 00 00 74 TT3043GB address Hardware serial number LED indicator descriptions LED Tex Constantoff Gonstanton Blinking ne L AIN Green Activity on line xis L A OUT Green EN Activity on line Sonne ced TBD TBD TBD mm 78 EROR Power is applied to Power is not ap module but no com Ri Eigen plied munication with mo tor Notes Blinking Flashing with equal on and off periods of 200ms 2 5Hz Flickering Rapid flashing with a period of approx 50ms 10 Hz JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 45 4 4 Commissioning 4 4 2 MacTalk Ethernet configuration The module is by default setup with the following Ethernet configuration MacTalk Noname File View Motor Setup Updates Help s e Open Save Save in flash Reset position Clear errors Reset motor Filter setup STOP Motor COM scan Sety Ethernet settings Til data setup IP address 1 69 254 214 245 Head ward 1 2 Operating mode SES ORR 255 D Head Word 2 0 Actual position Head Word 3 1 2 Actual velocity Default gateway 0 0 0 0 Read Word 4 B3 Actual torque Read Word 5 35 Error status
91. thernet connection Device Device state Device Device state Green state INIT Opera state Pre Safe opera tional operational tional Double flash mee Activity on line Activity on line Process data Critical com watchdog time General munication out Booting ERROR No error or coniroller P sid Local error EtherCATO SHOE error watchdog time out Power is Power is ap applied to Greun 15 not plied to both module but applied motor and no communi module cation with motor Blinking Flashing with equal on and off periods of 200ms 2 5Hz Single flash Repeating on for 200ms and off for 1s Double flash Two flashes with a period of 200ms followed by 1s off period Flickering Rapid flash ing with a period of approx 50ms 10 Hz Notes JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 29 3 3 Commisioning 3 3 0 Quick start with TwinGAT Copy the Ethernet slave information file JVL ECS VIO XML to the folder Twincat lO Ethernet on the master PC 2 Apply power and make sure the PWR power LED is lit 3 Connectthe Ethernet cable from Master to the L A IN connector and check that the corresponding LED is lit 4 Start TwinCAT system manager on the master and make sure that a proper Ether net device is appended consult your TwinCAT manual 5 Right click the I O device and select append box Untitled T
92. urce Control Online Tools Window Help 4 an FI 1 E E Ks i al A A VM WA VX mA EK Em T I s 8 PLCL CPU IF3 POWERLINK Configuration g PLCLCPU IF3 ST1 VO Mapping x POWERLINI niry OUT SecondEniry 12000 50200 WDINT OUT_ThedEnty 12000 5030 UDIHT OUT FourthEntry 12000 5040 OUT FilthEntry 12000 S050ut UDINT IM FirstEntry 13000 S01 UDINT 1 IN SecondEntry 13000 502 UDINT 17420413 b IM ThadEnir 13000 503 UDINT IM FourthEntry 13000 S04 UDINT IM FilthEntry 13000 505 UDINT L1 L1 CJ C1 L1 S KJ 6919 TT3034GB JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 75 9 4 Ethernet POWERLINK objects 5 4 1 Process data objects PDO s Process Data Objects are used for cyclic transfer of time critical process data between master and slaves Tx PDOs are used to transfer data from the slave to the mas ter and Rx PDOs to transfer data from the master to the slave PDO 21 PDO 21 is fully user configurable There is one receive PDO and one transmit PDO It is possibly to set up five 32 bit registers in each direction The setup is done with MacTalk or via SDO object 0x201 subindex 16 31 It requires a save in flash and a power cycle before the new configuration are used If the configuration of the PDO s is not altered by the user the MACOO EL
93. verssnnnnnnnnnrnnnsesseeee 42 4 3 Using cyclic messages l O messages 44 4 4 esae oet nee reet eedem aeu eee 45 25 a Deos bor eU 47 4 6 Configuration using different methods 49 4 7 Using and Selecting an Ethernet switch 52 4 8 Objects accessible using Explicit messages 53 4 9 Examples of applications 56 5 MACOO EL4 POWERLINK module 0000000000000000000000000000 65 5 1 Introduction to POWERLINK Q 66 5 2 Protocol SPECIFICATIONS avarter PRI eie 69 5 3 COMMISION INS qe ege eu 73 5 4 Ethernet POWERLINK objects 76 5 5 Network Management Services 82 5 6 XML Device Description File 83 ST Scu eS 84 6 Appendix 00000000000000000000000000000000000000000000000000000000000000000000000 87 61 Technical Data saa 88 6 2 Motor E 89 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 6 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors Introduction JVL Industri Elektronik A S
94. voli controller Window Help V ev Select a Language ra l HEIE Favorites Add On Scope Show az __ Description BE 200000 T Decimal DO that holds result from explicit msg E Decimal T used in msg3 set error diT emp jenen L iexu fel 0 3 ABEmbedded IQ tee ee ABEmbedded 0 Joost feed Ger ABEmbedded O EE SSS 2 Used in msg2 more mode 1 velocity 2 position e m ted MESSAGE Mso o TER L o BOOL ______ Triggers explicit msg2 set mode Oneshut2 i on Triggers explicit msg3 set error diT emp i Triggers explicit msg get actual position LI mu DE Used mest _ E E RR AB ETHERNET Read words see MacTalk Read words see MacTalk a 200000 Decimal ONT Read words see MacT alk 2 amp Decimal Read words see MacT all Decimal 1 Read words see alk Pu Read words see MacT alk B Euer Write words see MacTalk nee NN wards see MacT alk po 200000 words see MacTalk 8000 Decimal Write Nords see MacT alk Ont 2 Decimal Write see MacTalk 5 H Ser Decimal Write wordXsee MacTalk T E Servo T Deci Write words MacT alk
95. winCAT System Manager File Edit Actions View Options Help Derg db SYSTEM Configuration ER PLC Configuration TO Configuration 5 89 1 0 Devices Mappings p ppend JK Delete Device Online Reset Ax Online Reload Config Mode Online Delete Config Mode TB Export Device Import Bax Scan Boxes ab Cut Ctrl x Copy TT3004GB Continued next page 30 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 3 3 Commisioning 6 Unfold JVL Industri Elektronik and 7 Select and press the OK button Insert EtherCAT Device Search Name Bos Multiple if i Beckhaff Automation GmbH 3 F Communication Terminals ELEsxx System Couplers EK1100 EtherCAT Coupler 24 E Bus EK1101 EtherCAT Coupler 2 amp E Bus ID switch EK1501 EtherLAT Coupler 24 FA Multldlode ID switch EK1501 0010 EtherCA T Coupler 24 E Bus F SingleMade ID switch li C1 100 0004 EtherCAT Power supply 24 E Bus Ti Terminal Couplers sx 110 B Ethernet 3 Miscellaneous MB EtherCAT Fieldbus Boxes Ha Drives EF Eva Board Interfaces Eva Board Sample Source Demos 3 HS EtherCAT Piggyback controller boards FB 14 1 4 Industri Elektronik 5 MACOO Jv Extended I
96. x uses the default mapping shown in the tables below NB If an index is set to zero No selection then the following indexes is discarded Thereby computing resources in the drive are released which makes much faster cycle times possibly Please see next paragraph Default registers in transmit PDO 21 Slave gt Master Read words in MacTalk Object index Register no Motor register short Motor register description f REG Operating mode PIST VIST Actual veloci VF OUT ERR STAT Default registers in receive PDO 21 Master gt Slave JOpmamgmde ee 5 4 2 Minimum cycle time The minimum cycle time is the minimum amount of time between each cyclic request PDO on the Ethernet operating with values lower than those listed data loss will occur No of motor registers Motor series Motor series transmitted in each 50 MAC141 MAC400 and MAC800 direction The minimum cycle times is only valid if not sending any SDO requests while in any op erating mode MODULE registers can be appended as the last registers in the list at no extra timing cost If motor register 35 is not in the list it will be added internally anyway and has to be added to the minimum cycle time with 5ms if MAC050 MAC 141 and with 30us if MAC400 MAC800 76 JVL Industri Elektronik A S User Manual Ethernet expansion modules for MAC motors 9 4 Ethernet POWERLINK objects 5 4 3 Service Data Objects Serv

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