JVL MAC050 User Manual page 285

5.10
3: If a module is present, send a Module Reset telegram to the module. See the section
Reset Motor below for details on resetting a module. Note that the different module
types require different telegrams to reset.
Saving to flash can only be done over the serial lines RS-232 and RS-485. It can not be
done over any of the fieldbus modules with ProfiBus, CANopen®, DeviceNet or the
high-speed RS-485 FSx modules. Also the Rx and RxP modules can not cause a Save in
Flash from the nano-PLC program. Note that the Bluetooth and WLAN modules are
similar to the RxP modules in that the wireless link replaces the RS-485 interface. It is
therefore supported to send Reset sequences over Bluetooth and WLAN.
Note that saving parameters to flash can only be performed a few thousand times before
the flash wears out. The number of times may differ significantly between units. If the
flash wears out, the motor will load a default set of register values at start up. The elec-
tronics in the motor must be repaired or replaced to be able to save reliably to flash
again. JVL recommends to avoid saving in flash when it is not strictly necessary.
Clear Errors:
Pressing this button will clear the error-bits in the Error/Status motor register 35.
With the MAC800 motor, MacTalk will normally write a value of zero to register 35.
However, if the Position Limits error bit is set, it will pop up and ask the user if the po-
sition limits should be temporarily disabled until the position is back inside the limits set.
This is to handle the situations where the motor is moved outside the position limits
while working in another mode, like Velocity mode. If the user answers Yes to the
prompt, MacTalk will write the value 4000 hex, where only bit 14 is set. Bit 14 will be
cleared automatically by the MAC800 firmware as soon as the actual position is again in-
side the position limits. If bit 14 is not set, the motor will refuse to move while outside
the position limits – at least in one of the directions, depending on the firmware version
With the MAC50-141 motors, MacTalk will normally write a value to register 35 where
all bits are zero except it will leave 9 and 10 unchanged. This means it will perform a bit-
wise ORing of the value last read from the register with 600 hex, and then write the re-
sult back to register 35.
Other than that, MacTalk handles the Position Limits bits just like with the MAC800, see
the above paragraph for more information.
Reset Motor:
Pressing this button will send a reset command to the motor and to the module, if
present.
The operations performed by MacTalk are:
4: Set the motor into Passive Mode (set register 2 = to zero) by sending a telegram of
52
<
and wait for an answer with data
instead of using the broadcast address 255 (FF), substitute the <FF><00> with
<address><inverted address>. See the MacTalk protocol description for more
information.
5: Continue sending the telegram
wait for the
occurs, like a wrong answer or a missing answer/timeout, it means the motor has
started its reset sequence. Again, you can substitute a specific motor address for the
broadcast address
JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800
Serial communication
52 52 FF
>< >< >< ><
11 11
< >< ><
FF
< ><
00 02 FD 00
>< >< ><
11 11 11
< >< ><
57 57 57
< >< ><
11 sequence. As soon as any communications error
>
00 .
>
FF 00 FF
>< >< >< ><
. If the motor uses an address
>
FF 00 AA
>< >< >< ><
AA AA
>< >
AA and
>
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