JVL MAC050 User Manual page 288

5.11
34 INPOSCNT
35 ERR_STAT
5.11.1 Serial Quick Guide (MacTalk protocol)
This section describes control of the MAC motor via the serial interface (RS232/485 con-
nector on the MAC00-B1 or equivalent module).
The interface is RS232 compatible and uses 19200 baud with 8 data bits and no parity.
The MAC motor is completely controlled by reading and writing to registers.
The registers are numbered 1-255. The width of the registers is 16 bits or 32 bits.
To protect the communication from errors, the data is transmitted twice.
First the data byte is transmitted and then an inverted version (255-x) is transmitted.
The easiest way to become familiar with the registers and MAC communication is to use
the MacRegIO program. This program lists all of the registers, and the serial commands
sent and received can be monitored.
284 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800
MacTalk communication
Word Samples
16 bit -
Only MAC050 to 141
The number of samples the motor has to be
within the pos. interval spec. in INPOSWIN.
Motor status:
Bit 0: Overload
Bit 1: Follow error
Bit 2: Function error
Bit 3: Regenerative overload
Bit 4: In position
Bit 5: Accelerating
Bit 6: Decelerating
Bit 7: Position limits error
...
Bit 11: Motor current too high
Bit 12: Supply undervoltage
...
Bit 16: SII Read error