JVL MAC050, User Manual

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282 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800
5.10 Serial communication
6: 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.
The motor can only be Reset over the serial lines RS-232 and RS-485 – or by switching
the power supply off and on. It can not be done over any of the fieldbus modules with
ProfiBus, CANopen®, DeviceNet or the high-speed RS-485 FSx modules. The Blue-
tooth and WLAN modules can use reset since their wireless links replace the RS-485 in-
terface, but note that it may take longer after a reset before a connection can be re-
established.
As an alternative to Reset, there are ways to load all the register values from factory de-
faults or the last set of values saved to user flash. Note however, that loading all the reg-
isters will not clear all types of errors. This is intentional, since some errors are so serious
that the motor can not continue safe operation. The errors that can not be cleared with-
out power cycling are XXXX XXXX XXXX.
To use the functions to manipulate factory defaults and/or user flash, three steps must be
taken:
1: Set the motor into Safe Mode by writing the value 15 to the mode register (register
2).
2: Write one of the values described below to the mode register.
3: Wait for the mode register to automatically change away from that value – this will
typically take a few tens of milliseconds, but may vary. Just continue reading the
register until the value changes. After this, set the motor into the desired operating
mode.
With the MAC50-141 motors, the following functions are currently implemented:
100h (256): Load factory defaults AND save to user flash
101h (257): Load factory defaults (do NOT save to user flash)
102h (258): Load all registers from user flash.
With the MAC800 motor, the following functions are currently implemented:
100h (256): Load factory defaults AND save to user flash
101h (257): Load all registers from user flash.
102h (258): Save all registers to user flash
Note that after loading all register from either user flash or the factory defaults, the
firmware will clear or preset some of the registers, like clearing the follow error and set-
ting the actual position to zero to resemble a cold start after power up.
The value 100h (256 decimal) is also used by the Load Defaults function on the Motor
menu in MacTalk.