Mactalk Communication - JVL MAC050 User Manual

6.11

MacTalk communication

When using the RS232 or RS422 serial links, it is possible to access all the internal regis-
ters in the motor.
This gives the same possibilities as using the general installation and monitoring program
MacTalk.
In addition to these features, many more are accessible. In total, the MAC motor contains
more than 200 internal registers such as nominal velocity, actual position, etc. but please
note that several registers are not for the normal user and damage may occur if the con-
tents of these registers is changed.
The following pages describe the communication protocol that is used when communi-
cating with the MAC50 - 141 motors.
6.11.1 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.
402 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
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