JVL MAC050 User Manual page 400

6.10
Some telegrams are handled and answered by the motor and other telegrams are han-
dled and answered by the module. No telegrams are handled by both the motor and the
module except for the command to select a baud rate of 57600 baud.
An exception to this coupling is the series of MAC00-FSx modules. These 'intelligent'
modules do not use the FastMac channel, but allows the user exclusive access to it. They
share the MacTalk channel in the same way as the other 'intelligent' modules, but with
the additional functionality that the FSx module uses the MacTalk channel to communi-
cate with the basic motor. This means that the motor can experience conflicting traffic
when both the FSx module and an outside computer try to talk on the line at the same
time. The FSx module detects traffic and will only start sending data to the motor on the
MacTalk channel after the channel has been idle for several seconds. On FSx modules the
RS-232 line should therefore be used only for setup and firmware updates, and the high-
speed RS-485 line of the FSx modules should be used for all production data traffic.
Capabilities of the FastMac protocol:
The FastMac protocol can be used to read and write all registers in the basic motor via
telegrams termed FlexMac commands. It also has a number of single-byte commands
that can copy dedicated preloaded registers into their corresponding target registers, se-
lect modes of operation and reset certain errors. In addition a special sequence can
change from 19200 to 57600 baud.
The FastMac protocol can not be used to reset the basic motor, perform save in the mo-
tors flash memory, enter or exit Safe Mode, read the motors sample buffer or read a
block of registers from the motor. These operations are not available through register
reads and writes. This implies that intelligent modules cannot be used to reset the motor
from their fieldbusses.
Capabilities of the MacTalk protocol:
The MacTalk protocol can be used to read and write all registers and can execute the set
of commands that the FastMac protocol cannot.
The MacTalk protocol can not be used to send single-byte commands, but the same op-
erations can be performed through register reads and writes.
The error/status register:
This section describes how to handle the bitmapped combined error and status register
Register 35, including how to clear errors, describes errors that can not be cleared with-
out power cycling the motor, identifies best practice ways of operating the register for a
number of typical applications. Some of these applications include how to control wheth-
er the motor performs relative or absolute position movements and how to move back
into the normal working range after having been outside it.
This section does not describe all the bits in detail, but describes the different groups of
functions the bits in this register can assume.
Note that even though the Error/Status register bits are similar in the MAC050-141 and
the MAC400 up to MAC3000 motors, they are not the same. The bits that have a Con-
trol function can be located either in Register 35, Error/Status or in Register 36, Control-
Bits, at another motor type. Check the technical manual for the product you're using, and
be aware of the differences if you're combining MAC050-141 motor with MAC400 up
to MAC3000 motors in the same application.
396
Serial communication
JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500