JVL MAC050 User Manual page 401

6.10 Serial communication
There are three groups: Errors, Status and Control bits.
Errors are grouped into Temperature related errors, Electrical errors, and Mechanical
errors. Some errors can be reset from the serial lines, while other errors are so critical
that the motor can not continue safe operation, so to continue operation the power to
the motor must be turned off and then on again.
Status bits simply reflect the updated normal status of the motor, like whether the tar-
get position or velocity has been reached. Some status bits can be considered early-
warning bits like that the voltage of the control power supply has been measured to a
low value. If the voltage is measured to an even lower voltage, the motor will stop with
a hard error that requires reset because the risk of continuing operation is too high after
the control circuits may have been partly reset and entered an indeterminate state.
Control bits include bit 14 in MAC800 that must be set by the user to be able to move
the motor back into the position limit range. The motor will not move if software posi-
tion limits are active (non-zero) and the motor has moved outside the limits. The typical
case is when the motor is normally working in Position mode where the software posi-
tion limits will automatically prevent it from moving outside the limits, and then if the mo-
tor is switched into another mode, like Velocity mode, where position limits do not
apply, and run outside the position range.
Another example is bit 9 in the on the MAC050-141 motors. When using FastMac com-
mands to transfer one of the P1..P8 register to P_SOLL, bit 9 selects whether to simply
copy the value or to add it to the existing contents of P_SOLL.
See the Technical Manual for the MAC50.141 and the Technical manual for the MAC800
for accurate bit descriptions.
Resetting the motor and module:
This section describes the ways to reset the motor and/or the module, and makes several
notes on things to consider to prepare for a reset and how to continue operation after a
reset.
Reset errors
Some errors can be reset from software, while others are simply too critical to attempt
further operation and require the power supply to be turned off and then on again to re-
set the errors.
There are basically two ways of resetting the errors in the Error/status register 35.
One way is to read the entire register, then zero the error bits but leave the other bits
unchanged, and finally write the entire register back to the motor. This is the method to
use with the MacTalk protocol.
The other way is to send a single-byte FastMac command of 97 (decimal) / 61 (hex). All
intelligent modules provide a way to send FastMac commands, either over the fieldbus
or from the ePLC program.
Mode 256..258
As described under the Reset command, there are a small number of operations that
manage copying of default register values between the factory default values, the values
last saved by the user through a Save in Flash operation, and the actual working register
values kept in RAM.
This section describes how to use these operations in a best practice way.
JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500 397