Mavis-ics-arm Manual 🎁

Here you will find the MAVIS ICS Gateway Configuration steps. This is where most engineers struggle. The manual explicitly warns against auto-negotiation on the secondary Ethernet port. Instead, it mandates fixed 100Mbps, half-duplex for legacy ICS bus compatibility.

The official manual is not included on a CD in newer shipments (to reduce waste). You can obtain the current revision (Rev 6.2) via: mavis-ics-arm manual

Warning: Be cautious of third-party websites offering the manual. Many host outdated Rev 4.3 documents, which lack critical updates regarding the 2025 ICS security protocol changes (TLS 1.2+). Here you will find the MAVIS ICS Gateway

The "ICS" in the name indicates that the arm is not just a standalone teach-pendant device. It includes a pre-configured CiA 402 drive profile, allowing it to appear as a standard axis drive on your industrial network. Warning: Be cautious of third-party websites offering the

| Code | Meaning | Action | |------|---------|--------| | E101 | Joint 1 overcurrent | Check for mechanical binding. Reset drive. | | E203 | EtherCAT lost frame | Inspect cabling, reduce network load. | | E307 | Force limit exceeded | Reduce speed/accel or increase limit via $FORCE_LIMIT. | | E412 | Encoder battery low | Replace battery within 7 days or lose home position. |

The manual describes a "Control Word" and "Status Word" mechanism.

Target Position (Register 0x301-0x302): 32-bit integer representing 0.001-degree increments.

Example snippet from the manual (Table 7-3): To move Joint 1 to 90 degrees, write 90000 (integer) to Target_Position_JOINT1. Then set Control Word to 0x001F (Enable + Start).