MacComm OCX Control 1.07 User Manual JVL Industri Elektronik A/S
Contents
1. 3 3 8 AboutBox Description Shows a dialog about the program Example s C Show the about box MacComm AboutBox BASIC Show the about box MacComm About Bos JVL Industri Elektronik A S User Manual MacComm OCX Control 20 3 3 9 GetLastError Return type 32 bit signed integer Returns an error code like the Windows GetLastError but with some additions Description Use this method to retrieve the error code for the last error Example s C Getting last error code unsigned short ErrorCode MacComm GetLastError BASIC Getting last error code Dim ErrorCode As Integer ErrorCode MacComm GetLastError 3 3 10 GetLastErrorStr in ErrorCode Parameters Type Name Description 32 bit signed integer ErrorCode Errorcode to be converted to a string Return type String Returns an error code description like the Windows GetLastError but with the same additions as GetLastError Description Use this method to retrieve a description of an error code Example s C Get description of passed error code CString Text MacComm GetLastErrorStr MacComm GetLastError BASIC Getting last error code Dim Description As String Description MacComm GetLastErrorStr MacComm GetLastError JVL Industri Elektronik A S User Manual MacComm OCX Control 21 3 3 11 GetParameterType in Add2. BASIC Reset module start progam dim State Inputs Outputs dim Time Count as Long MacComm NanoReset 255 State ModeCmd as Integer Inputs Outputs Time Count ModeCmd JVL Industri Elektronik A S User Manual MacComm OCX Control 34 3 3 30 RxPN OOP ml Address out Value Parameters Type Name Description 16 bit unsigned short integer Address Address of the motor 255 for broadcast 16 bit unsigned short integer Value Status information and inputs Description Gets Input and Status Value consists of bits Description 0 7 Inputs 1 8 8 Error 9 In position 10 11 Reserved 12 15 Outputs 1 4 Example s C Get inputs unsigned short Value MacComm RxPNOOP 255 Value Value Value amp OxFF BASIC Get inputs dim Value as integer MacComm RxPNOOP 255 Value Value Value and 255 3 3 31 RxPReset in Address Parameters Type Name Description 16 bit unsigned short integer Address Address of the motor 255 for broadcast Description Resets RxP module Returns immediately after the command has been sent Example s C Reset module MacComm RxPReset 255 BASIC Reset module MacComm RxPReset 255 JVL Industri Elektronik A S User Manual MacComm OCX Control 35 3 3 32 RxPResetWait in Address Parameters Type Name Description 16 bit unsigned short integer Address Address of the
3. 3 3 38 ReadStatus in Address out Status out Position out ErrCount Parameters Type Name Description 16 bit unsigned short integer Address Address of the motor 16 bit signed integer Status 32 bit signed integer Position 16 bit signed integer ErrCount Amount of Errors received since pwr on Return type Boolean Returns true if Read was successful Description Use this method to get the status of a Macmotor Example s C Read status for address 7 short Status ErrCount long Position bool Result MacComm ReadStatus 7 Status Position ErrCount BASIC Read status for address 7 Dim Result As Boolean Dim Status As Integer Dim Position As Long Dim ErrCount As Integer Result MacComml ReadStatus 7 Status Position ErrCount JVL Industri Elektronik A S User Manual MacComm OCX Control 39 3 3 39 WriteGroup in Group in ParamN um in Value Parameters Type Name Description 16 bit signed integer Group Group of MAC motors 16 bit signed integer ParamNum Parameter number 32 bit signed integer Value Value to be written Return type Boolean Returns true if write was successful It will send the command the amount of times the property GrpSends has been set to Description Use this method to write a parameter to a Macmotor register This method can also be used for accessing the module registers by using ParamNums above 256 Regis
4. 16 bit unsigned short integer Address Address of the motor 255 for broadcast 16 bit unsigned short integer MinAddress Lower address of code area 16 bit unsigned short integer MaxAddress High address of code area Description Continues execution of the RxP Program until program pointer is outside specified area MinAddress MaxAddress Example s C Step through program until outside 0x1C 0x23 MacComm RxPStep 255 0x1C 0x23 BASIC Step through program until outside amp H1C amp H23 MacComm RxPStep 255 amp H1C amp H23 JVL Industri Elektronik A S User Manual MacComm OCX Control 37 3 3 37 RxPSetOutputs in Address in Outputs in M ask Parameters Type Name Description 16 bit unsigned short integer Address Address of the motor 255 for broadcast 16 bit unsigned short integer Outputs binary representation of the Outputs 16 bit unsigned short integer Mask Output mask Description Sets or clears the outputs according to the mask and output values i e binary values Output value of 1010 and Mask of 1100 sets output 4 and clears output 3 Output 1 and 2 are not modified since they are masked out Example s C BASIC Set output 1 and clear output 4 MacComm RxPSetOutputs 255 0x01 0x09 Set output 1 and clear output 4 MacComm RxPSetOutputs 255 1 9 JVL Industri Elektronik A S User Manual MacComm OCX Control 38
5. ParamNum in Value 19 3 3 7 GetParamNumFromName in Address in ParamName uu cesses cesseessessesseeeee 20 3 3 8 ee 20 3 3 9 MG ECA SU EPMO aa tasa DT t ta ne 21 3 3 10 GetLastErr rstrllin Eent Sege seed ec 21 3 3 11 GetParameterType in Address in ParamNum sseessesnnzzzzennenzznnanzzzonenzznnnnzzzonenzznenzznza 22 3 3 12 Reset in AGGrES Shot en N ae a a ulate a eats 23 3 3 13 Reset Wart limi gedeelt geseet dean 23 33 14 WriteToklashllin Address EE 24 3 3 15 WriteToFlashWait in Address EEN 24 3 3 16 SetFactors in PositionFactor in AccelerationFactor in VelocitvFactor 25 3 3 17 SetFactorsBig in PositionFactor in AccelerationFactor in VelocityFactor 26 3 3 18 SetFactorsMIS in PositionFactor in AccelerationFactor in VelocityFactor 27 3 3 19 SEIMACTypellin Address in Type deems acc ie Ae ale 28 3 3 20 SetMotorivpellin Address in Ieper 29 3321 GetMotorivpellini Add zeiten ee 29 3 3 22 GetModuleType in Address out ModuleType out FirmWareVersion 30 3 3 23 NanoGet in Address in Page out Data 31 3 3 24 NanoPut in Address in Page in Hate iet 31 3 3 25 NanoProgram in Address in Piehamel EE 32 JVL Industri Elektronik A S User Manual MacComm OCX Control 1 4 1 4 2 4 3 4 4 4 5 3 3 20 Nanostopliin Addresse ea india en e 32 3 3 27 NanoRe
6. A S User Manual MacComm OCX Control 28 3 3 20 SetMotorType in Address in Type Parameters Type Name Description 16 bit unsigned short integer Address Address of the motor 255 for broadcast 16 bit unsigned short integer Type The type code of the motor Description Sets the motor type which determines how the OCX formats parameters sent and received Default is 0 which is interpreted as one of the MAC50 95 140 141 types A list of type codes can be found in appendix 4 3 Example s C Set MAC400 on address 4 MacComm SetMotorType 4 10 BASIC Set SMC75 on address 4 MacComm SetMotorType 4 64 3 3 21 GetM otorType in Address Parameters Type Name Description 16 bit signed integer Address Address of the motor Return type 16 bit signed integer Return value indicates what type of motor is configured at the specified address Description Use this funtion to read back the type code set with SetMotorType This can be useful in programs that control a mix of different motor types Note that this function does not detect what type of motor if any that actually is there Example s C Get the type of the motor at address 100 short Type MacComm GetMotorType 100 BASIC Get the type of the motor at address 100 Dim MotorType As Integer MotorType MacComm GetMotorType 100 JVL Industri Elektronik A S User Manual MacComm OCX Contro
7. JVL Industri Elektronik A S User Manual MacComm OCX Control 1 1 Foreword MacComm OCX has been developed to provide an easy way of interfacing to the MAC motors from various Windows applications To use the MacComm OCX you only need a development environment that supports ActiveX components previously called OLE controls This includes MS Excel MS Visual Studio Borland C Builder Borland Delphi LabView and many more By using this OCX you do not need to worry about setting up the COM port settings such as baud rate start bits stop bits databits parity CTS RTS etc These settings are handled automatically by the OCX All you need is to tell what COM port is used and what addresses the MAC motors are connected The MAC motor address is only reguired when more than one MAC motor is connected to the same serial cable Otherwise address 255 is a broadcast address where the MAC motor will react regardless of configured address JVL Industri Elektronik A S User Manual MacComm OCX Control 4 1 2 What is new in version 1 07 Version 1 07 adds support for the QuickStep family of stepper motor controllers and integrated steppers Current JVL products in this range include the SMC75 stepper motor controller board and the MIS231 MIS232 and MIS234 integrated stepper motors All of them are programmable in the same way as the MACOO R1 R2 R4 modules For further information on these products visit the JVL website at
8. are found in appendix 4 1 Instructions for using the OCX with your development environment are found in appendix 4 2 JVL Industri Elektronik A S User Manual MacComm OCX Control 5 Programming guide JVL Industri Elektronik A S User Manual MacComm OCX Control 2 1 M acComm OCX programming basics First you need to add the OCX to your project See Installation instructions later in this manual To initialize the OCX the following are reguired Setting ComPort to wanted COM port number Calling SetMACType to set MAC type only reguired for MAC 400 800 Calling OpenPort Now it is possible to use the various commands for setting retrieving values Call ReadParameterAlternate to read a value Call WriteParameterAlternate to set a value Etc To close the communications do the following Call ClosePort JVL Industri Elektronik A S User Manual MacComm OCX Control JVL Industri Elektronik A S User Manual MacComm OCX Control 2 2 Advanced programming issues This chapter deals with various issues which strictly speaking is beyond the scope of a reference manual like this one However we know that many JVL costumers will appreciate having these issues Clarified 2 2 1 Timing and multithreading All calls to the MacComm OCX block the calling thread until completed This simplifies programming and debugging but delays execution of the thread If this is not acceptable we recommend that each
9. http www jvl dk The addition of the QuickStep family has required an extension to the MacComm OCX interface This is in the form of the SetMotorType method which tells the OCX how to handle a motor at a given address on the serial bus It is similar to the SetMACType method but is more flexible Also added is the GetMotorType method which allows you to read back the type code provided to SetMotorType For more information see sections 3 3 20 3 3 19 and 3 3 21 for detailed descriptions of the relevant functions For a list of currently defined motor type codes see appendix 4 3 In addition this manual has been revised and extended 1 3 Conventions in this manual This manual is mainly about programming with the MacComm OCX and there is really only one convention that matters the form of the code examples In all cases where the text is a concrete example like code that can be added to a program or commands that can be entered at a command prompt the text will look like this This is a Visual Basic comment MacComm Retries 5 Where nothing else is indicated MacComm in the code samples refer to an instance of the MacComm OCX 1 4 If you are not going to read anything else If you are anxious to get started quickly we suggest you turn to section 2 1 of the programming guide It explains the basics of using the MacComm OCX and also points out some important pitfalls Instructions for installing the OCX to your system
10. instance of the OCX is handled by its own background thread The details of how this should be done both depends on your choice of programming tool and the intended application They are therefore beyond the scope of this manual 2 2 2 Controlling programmable motors Programmable motors include the QuickStep family and any MAC motor with a MACOO Rx RxP FB4 or EW4 module A programmable motor can be controlled in the same fashion as a non programmable motor However if a program is run locally on the motor concurrently with the motor being controlled from the outside certain things must be considered MAC motors with MACOO Rx modules the Rx NanoPLC module has been discontinued but remains in use with many JVL costumers MAC motors with MACOO RxP FB4 and EW4 modules QuickStep motors and controllers JVL Industri Elektronik A S User Manual MacComm OCX Control 9 Interface reference JVL Industri Elektronik A S User Manual MacComm OCX Control 3 1 Overview This is a brief overview of the methods and properties available in the MacComm OCX interface 3 1 1 Methods OpenPort ClosePort ReadParameter in Address in ParamNum out Value ReadParameterAlternate in Address in ParamNum out Value WriteParameter in Address in ParamNum in Value WriteParameterAlternate in Address in ParamNum in Value GetParamNumFromName in Address in ParamNum GetLastError G
11. integer Page What page is to be read 0 3 VARIANT Data Array of Bytes 128 elements of VT UI1 Description Sends a page to the RX module Example s C Send page 0 VARIANT Data MacComm NanoPut 255 0 Data BASIC Send Page 0 dim Data as VARIANT MacComm NanoPut 255 0 Data JVL Industri Elektronik A S User Manual MacComm OCX Control 31 3 3 25 NanoProgram in Address in FileN ame Parameters Type Name Description 16 bit unsigned short integer Address Address of the motor 255 for broadcast BSTR FileName HEX file to be sent to RX module Description Reads the HEX file and writes it to the RX module Example s C Send C File hex MacComm NanoProgram 255 C File hex BASIC Send C File hex MacComm NanoProgram 255 C File hex 3 3 26 NanoStop in Address Parameters Type Name Description 16 bit unsigned short integer Address Address of the motor 255 for broadcast Description Stops the program Example s C Stop progam MacComm NanoStop 255 BASIC Stop progam MacComm NanoStop 255 JVL Industri Elektronik A S User Manual MacComm OCX Control 32 3 3 27 NanoReset in Address Parameters Type Name Description 16 bit unsigned short integer Address Address of the motor 255 for broadcast Description Resets RX module which also starts the program Returns immediat
12. motor 255 for broadcast Description Resets RxP module Returns when the module is ready Example s C Reset module MacComm RxPResetWait 255 BASIC Reset module MacComm RxPResetWait 255 3 3 33 RxPStart in Address Parameters Type Name Description 16 bit unsigned short integer Address Address of the motor 255 for broadcast Description Starts the program in the RxP module Example s C Start program in RxP module MacComm RxPStart 255 BASIC Start program in RxP module MacComm RxPStart 255 3 3 34 RxPStop in Address Parameters Type Name Description 16 bit unsigned short integer Address Address of the motor 255 for broadcast Description Stops the program in the RxP module Example s C Stop program in RxP module MacComm RxPStop 255 BASIC Stop program in RxP module MacComm RxPStop 255 JVL Industri Elektronik A S User Manual MacComm OCX Control 36 3 3 35 RxPPause in Address Parameters Type Name Description 16 bit unsigned short integer Address Address of the motor 255 for broadcast Description Pauses the program in the RxP module Example s C Pause program in RxP module MacComm RxPPause 255 BASIC Pause program in RxP module MacComm RxPPause 255 3 3 36 RxP Step in Address in MinAddress in MaxAddress Parameters Type Name Description
13. 0 P IST multiplied with Positionfactor float Value bool Result MacComm ReadParameterAlternate 255 3 8Value BASIC Common dim statements Dim LocalValue As Single Dim Result As Boolean Parameter number 2 255 2 Getting operation mode Result MacComm ReadParameterAlternat LocalValue Getting position Parameter 10 multiplied with Positionfactor Result MacComm ReadParameterAlternat P IST 255 10 LocalValue JVL Industri Elektronik A S User Manual MacComm OCX Control 17 3 3 5 WriteParameter in Address in ParamNum in Value Parameters Type Name Description 16 bit signed integer Address Address of the MAC motor Use 255 to broadcast 16 bit signed integer ParamNum Parameter number 32 bit signed integer Value Value to be written Return type Boolean Returns true if write was successful It will try the amount of times the property Retries has been set to before returning false Description Use this method to write a parameter to a Macmotor register This method can also be used for accessing the module registers by using ParamNums above 256 Register 1 in the module can be accessed by writing to ParamNum 257 Value is one of the following types cast to a long integer Word 16 bit unsigned integer Integer 16 bit signed integer Longint 32 bit signed integer Fixed4 16 bit signed fixed point Unit 1 4096 Fixed8 16 bit signed
14. 0 95 140 141 family of motors The default values can be found in appendix 4 4 Example s C Set Position factor to 1 4096 Converts Pulses to revolutions and disable the others MacComm SetFactors float 1 4096 1 1 BASIC Set Position factor to 1 4096 Converts Pulses to revolutions and disable the others MacComm SetFactors 1 4096 1 1 JVL Industri Elektronik A S User Manual MacComm OCX Control 25 3 3 17 SetFactorsBig in PositionFactor in AccelerationFactor in VelocityFactor Parameters Type Name Description 32 bit floating point Pos Position Factor 32 bit floating point Acc Acceleration Factor 32 bit floating point Vel Velocity Factor Description Sets factors used by ReadParameterAlternate and WriteParameterAlternate If a value of O is passed the previous factor is retained This function is used with the MAC400 800 family of motors The default values can be found in appendix 4 4 Example s C Set Position factor to 1 8000 Converts Pulses to revolutions and disable the others MacComm SetFactorsBig float 1 8000 1 1 BASIC Set Position factor to 1 8000 Converts Pulses to revolutions and disable the others MacComm SetFactorsBig 1 8000 1 1 JVL Industri Elektronik A S User Manual MacComm OCX Control 26 3 3 18 SetFactorsMIS in PositionFactor in AccelerationFactor in VelocityFactor Para
15. IST long Value bool Result MacComm ReadParameter 255 3 amp Value BASIC Common dim statements Dim LocalValue As Long Dim Result As Boolean Getting operation mode Parameter number 2 Result MacComm ReadParameter 255 2 LocalValue Getting position Parameter 10 P IST Result MacComm ReadParameter 255 10 LocalValue JVL Industri Elektronik A S User Manual MacComm OCX Control 16 3 3 4 ReadParameterAlternate in Address in ParamN um out Value Parameters Type Name 16 bit signed integer Address 16 bit signed integer ParamNum 32 bit floating point pointer Value Description Address of the motor 255 for broadcast Parameter number Value to be read Pointer Return type Boolean Returns true if read was successful It will try the amount of times the property Retries has been set to before returning false Description Use this method to read a parameter from a Macmotor register This method uses the factors for Acceleration Position and Velocity registers which can be set by calling SetFactors Some ofthe other registers are converted using predefined factors See SetFactors The rest just pass through Types are handled automatically by this method Example s C Getting operation mode Parameter number 2 float Value bool Result MacComm ReadParameterAlternate 255 2 amp Value Getting position Parameter 1
16. M acComm OCX Control 1 07 User Manual Windows programs MAC motors J VL Industri Elektronik A S LB0051 07GB 3 September 2008 JVL Industri Elektronik A S User Manual MacComm OCX Control 1 1 1 2 1 3 1 4 2 1 2 2 3 2 3 3 Contents Fo de le del TTT TT 3 ForeW rd i A el ee tl des Gu an men 4 Whats Hew Version IO 7 i sin sia aa 5 Conventions in this manual ee NEEN arana re re ne e ern ne 5 If you are not going to read anything eben re ee 5 Programming GUE Lia a 6 MacComm OCX programming BASIES 36 15 ol ae esita at 7 Advanced programming Issues er ee ende 9 22 1 Timing and multithreading sn se a Eee 9 2 2 2 Controlling programmable Motors nassen 9 Interface AR A CO E SE A A E E E SEE eege 10 OVE We ee te ae al 11 3 1 1 Metteg aserebusbeg m ee 11 3 1 2 PROPERTIES i a 12 Property description Sristi ee ee m ee 13 3 2 1 COM PO ee M re Maala aata 13 3 2 2 A AI a a 13 3 23 A A ai 14 3 2 4 COM Port a a Ee 14 Method DESCTIptiIOnS are ee ee ee 15 3 3 1 iere ta 15 SAD ClosePort A i u Ds ah Fee RPE SORE HEN 15 3 3 3 ReadParameter lin Address in ParamNum out Value 16 3 3 4 ReadParameterAlternatellin Address in ParamNum out Value 17 3 3 5 WriteParameter in Address in ParamNum in Value 18 3 3 6 WriteParameterAlternatellin Address in
17. P SIM 1 16 Encoder counts D 16 I2T 1 22 Percent assuming I2TLIM is 2200 D 18 UIT 1 6 Percent assuming UITLIM is 600 D 41 T HOME 100 1023 Percent D 77 80 T1 4 100 1023 Percent D 121 VF OUT 100 1023 Percent X 122 ANINP 10 1023 Volts X 123 ANINP OFFSET 10 1023 Volts X 124 ELDEGN_OFFSET 360 2048 Electrical degrees D 125 ELDEGP_OFFSET 360 2048 Electrical degrees JVL Industri Elektronik A S User Manual MacComm OCX Control 46 4 4 2 MAC400 and MAC800 servomotor family Fixed Number Name Factor Resulting unit N A PositionFactor 1 Pulses N A AccelerationFactor 277 922 RPM s N A VelocityFactor 0 360938 RPM X 7 T_SOLL 100 1023 Percent X 8 P_SIM 1 16 Encoder counts D 21 U_24V 74 47 Volts X 29 DEGC 0 05 4096 Degrees centigrade X 31 DEGCMAX 0 05 4096 Degrees centigrade X 77 80 T00 3 100 1023 Percent X 169 VF_OUT 100 1023 Percent x 170 ANINP 10 2047 Volts x 171 ANINP_OFFSET 10 2047 Volts X 172 ELDEG OFFSET 360 1143 Electrical degrees X 176 MAN ALPHA 360 1143 Electrical degrees X 190 ELDEG_IST 360 1143 Electrical degrees X 191 V ELDEG 360 1143 Electrical degrees X 198 U_BUS 325 3 400 Volts X 199 U BUS OFFSET 325 3 400 Volts 4 4 3 SMC75 MIS231 MIS232 MIS234 Fixed Number Name Factor Resulting unit N A PositionFactor 1 Pulses N A Accelera
18. Use this method to close the port Example s C Closing the port MacComm ClosePort BASIC Closing the port MacComm ClosePort JVL Industri Elektronik A S User Manual MacComm OCX Control 15 3 3 3 ReadParameter in Address in ParamN um out Value Parameters Type Name Description 16 bit signed integer Address Address of the motor 255 for broadcast 16 bit signed integer ParamNum Parameter number 32 bit signed integer pointer Value Value to be read Pointer Return type Boolean Returns true if read was successful It will try the amount of times the property Retries has been set to before returning false Description Use this method to read a parameter from a Macmotor register This method can also be used for accessing the module registers by using ParamNums above 256 Register 1 in the module can be accessed by reading ParamNum 257 Value is one of the following types cast to a long integer Word 16 bit unsigned integer Integer 16 bit signed integer Longint 32 bit signed integer Fixed4 16 bit signed fixed point Fixed8 16 bit signed fixed point Fixed 16 32 bit signed fixed point Fixed24 32 bit signed fixed point Unit 1 4096 Unit 1 256 Unit 1 65536 Unit 1 256 ee Example s C Getting operation mode Parameter number 2 long Value bool Result MacComm ReadParameter 255 2 amp Value Getting position Parameter 10 P_
19. ely after the command has been sent Example s C Reset module start progam MacComm NanoReset 255 BASIC Reset module start progam MacComm NanoReset 255 3 3 28 N anoResetW ait in Address Parameters Type Name Description 16 bit unsigned short integer Address Address of the motor 255 for broadcast Description Resets RX module which also starts the program Returns when the module is ready Example s C Reset module start progam MacComm NanoResetWait 255 BASIC Reset module start progam MacComm NanoResetWait 255 JVL Industri Elektronik A S User Manual MacComm OCX Control 33 3 3 29 NanoDebug in Address out State out Inputs out Outputs out Time out Count out M odeCmd Parameters Type Name Description 16 bit unsigned short integer Address Address of the motor 255 for broadcast 16 bit unsigned short integer State 16 bit unsigned short integer Inputs Inputs in binary format 16 bit unsigned short integer Outputs Outputs in binary format 32 bit unsigned long integer Time Time module has been running 32 bit unsigned long integer Count 16 bit unsigned short integer ModeCmd Description Reads information for debugging Example s C Reset module start progam unsigned short State Inputs Outputs ModeCmd unsigned long Time Count MacComm NanoDebug 255 State Inputs Outputs Time Count ModeCmd
20. etLastErrorStr in long ErrorCode GetParameterType in Address in ParamNum Reset in Address ResetWait in Address WriteToFlash in Address WriteToFlashWait in Address SetFactors in PositionFactor in AccelerationFactor in VelocityFactor SetFactorsBig in PositionFactor in AccelerationFactor in VelocityFactor SetMACType in Address in Type GetModuleType in Address out ModuleType out FirmWareVersion NanoGet in Address in Page out Data NanoPut in Address in Page in Data NanoProgram in Address in FileName NanoWrite in Address NanoStop in Address NanoReset in Address NanoResetWait in Address NanoDebug in Address out State out Inputs out Outputs out Time out Count out ModeCmd RxPReset in Address RxPResetWait in Address RxPNOOP in Address out Value RxPStart in Address RxPStop in Address RxPPause in Address RxPStep in Address in MinAddress in MaxAddress RxPSetOutputs in Address in Outputs in Mask ReadStatus in Address out Status out Position out ErrCount WriteGroup in Group in RegisterNo in Value AboutBox SetMotorType in Address in Type GetMotorType in Address out Type JVL Industri Elektronik A S User Manual MacComm OCX Control 11 3 1 2 Properties ComPort Retries GrpSends Baud JVL Industri Elektronik A S User Manual MacCo
21. fixed point Unit 1 256 Fixed16 32 bit signed fixed point Unit 1 65536 Fixed24 32 bit signed fixed point Unit 1 256 Example s C Setting operation mode Parameter number 2 to Position mode Value 2 bool Result MacComm WriteParameter 255 2 2 Setting Position Parameter 3 P SOLL to 4096 Value 4096 bool Result MacComm WriteParameter 255 3 4096 BASIC Setting operation mode Parameter number 2 to Position mode Value 2 Dim Result As Boolean Result MacComm1 WriteParameter 255 2 2 Setting Position Parameter 3 P SOLL to 4096 Value 4096 Dim Result As Boolean Result MacComm1 WriteParameter 255 3 4096 JVL Industri Elektronik A S User Manual MacComm OCX Control 18 3 3 6 WriteParameterAlternate in Address in ParamNum in Value Parameters Type Name Description 16 bit signed integer Address Address of the MAC motor Use 255 to broadcast 16 bit signed integer ParamNum Parameter number 32 bit floating point Value Value to be written Return type Boolean Returns true if write was successful It will try the amount of times the property Retries has been set to before returning false Description Use this method to write a parameter to a Macmotor register This method uses the factors for Acceleration Position and Velocity registers which can be set by calling SetFactors Some of the other registers are converted using predefined fac
22. ind MacComm OCX Control module and put a checkmark besides it and click OK The MacComm OCX is now available in the Toolbox When put on a form the properties page of the object can be used to set the startup values for the 2 properties Retries ComPort baudrate and Group sends 4 2 4 Borland C Builder 6 0 1 In the menu Component click Import ActiveX Control 2 Select MacComm ActiveX Control module in the lists of components 3 Press the install button 4 On the page Into existing package select the dclusr bpk file This should be default and click OK 5 Select yes to rebuild the package 6 The ActiveX should now be available in the tool palette on the ActiveX page JVL Industri Elektronik A S User Manual MacComm OCX Control 43 4 2 5 LabVIEW 7 0 Place an ActiveX container on your Front Panel Right click it and select Insert ActiveX object Select MacComm Control from the list Connect it to a Property node and use this to setup the properties Connect it to an Invoke node and use this to call the methods DD JVL Industri Elektronik A S User Manual MacComm OCX Control 44 4 3 Motor type codes This isa list of the type codes used with the SetMotorType and GetMotorType methods At the time of writing the following type codes refer to actual or upcoming JVL products Type code Model Description 1 MAC50 I
23. ion Writes MAC registers to Flash memory Returns as soon as the Flash command has been sent to the MAC motor Example s C Write registers to flash bool Result MacComm WriteToFlash 255 BASIC Write registers to flash Dim Result As Boolean Result MacComm WriteToFlash 255 3 3 15 WriteToFlashWait in Address Parameters Type Name Description 16 bit unsigned short integer Address Address of the motor 255 for broadcast Return type Boolean Returns true if flashing was successful It will try the amount of times the property Retries has been set to before returning false Description Writes MAC registers to Flash memory Returns when MAC motor is ready Example s C Write registers to flash bool Result MacComm WriteToFlashWait 255 BASIC Write registers to flash Dim Result As Boolean Result MacComm WriteToFlashWait 255 JVL Industri Elektronik A S User Manual MacComm OCX Control 24 3 3 16 SetFactors in PositionFactor in AccelerationFactor in VelocityFactor Parameters Type Name Description 32 bit floating point Pos Position Factor 32 bit floating point Acc Acceleration Factor 32 bit floating point Vel Velocity Factor Description Sets factors used by ReadParameterAlternate and WriteParameterAlternate If a value of O is passed the previous factor is retained This function is used with the MAC5
24. l 29 3 3 22 GetM oduleType in Address out M oduleType out FirmWareVersion Parameters Type Name Description 16 bit unsigned short integer Address Address of the motor 255 for broadcast 16 bit unsigned short integer ModuleType What type of module is it 16 bit unsigned short integer FWVersion FirmWare version Description Reads module information from the MAC motor The values of ModuleType are 1 MACOO Rx module NanoPLC 2 MACOO FPx module Profibus 3 MACOO FCx module CAN Open Example s C Read page 0 VARIANT Data MacComm NanoGet 255 0 Data BASIC Read Page 0 dim Data as VARIANT MacComm NanoGet 255 0 Data JVL Industri Elektronik A S User Manual MacComm OCX Control 30 3 3 23 NanoGet in Address in Page out Data Parameters Type Name Description 16 bit unsigned short integer Address Address of the motor 255 for broadcast 16 bit unsigned short integer Page What page is to be read VARIANT Data Array of Bytes 128 elements of VT UI1 Description Reads a page from the RX module Example s C Read page 0 VARIANT Data MacComm NanoGet 255 0 Data BASIC Read Page 0 dim Data as VARIANT MacComm NanoGet 255 0 Data 3 3 24 NanoPut in Address in Page in Data Parameters Type Name Description 16 bit unsigned short integer Address Address of the motor 255 for broadcast 16 bit unsigned short
25. meters Type Name Description 32 bit floating point Pos Position Factor 32 bit floating point Acc Acceleration Factor 32 bit floating point Vel Velocity Factor Description Sets factors used by ReadParameterAlternate and WriteParameterAlternate If a value of O is passed the previous factor is retained This function is used with the SMC75 MIS231 MIS232 MIS234 family of motors The default values can be found in appendix 4 4 Example s C Set Position factor to 1 1600 Converts Pulses to revolutions and disable the others MacComm SetFactorsMIS float 1 1600 1 1 BASIC Set Position factor to 1 1600 Converts Pulses to revolutions and disable the others MacComm SetFactorsMIS 1 1600 1 1 JVL Industri Elektronik A S User Manual MacComm OCX Control 27 3 3 19 SetM ACType lin Address in Type Parameters Type Name Description 16 bit unsigned short integer Address Address of the motor 255 for broadcast BOOL Type True if it is a MAC 400 or MAC 800 Description Sets MAC motor type Default is 0 Type can have the following values 0 MAC50 95 140 141 1 MAC400 800 This function is not recommended for new programs It is retained for backwards compatibility only Use SetMotorType instead Example s C Set MAC400 on address 4 MacComm SetMACType 4 TRUE BASIC Set MAC80 on address 4 MacComm SetMACType 4 FALSE JVL Industri Elektronik
26. mm OCX Control 12 3 2 Property descriptions 3 2 1 ComPort Type Integer Default value 1 Description Use this property to select the serial port Example s C Use COM1 MacComm ComPort 1 BASIC Use COM1 MacComm ComPort 1 3 2 2 Retries Type Integer Default value 5 Description Use this property to set the number of retries Example s C Try five times before reporting failure MacComm Retries 5 BASIC Try five times before reporting failure MacComm Retries 5 JVL Industri Elektronik A S User Manual MacComm OCX Control 13 3 2 3 GrpSends Type Integer Description Use this property to set the serial port Example s C Use COM1 MacComm ComPort 1 BASIC Use COM1 MacComm ComPort 1 3 2 4 ComPort Type Boolean Description Use this property to set the serial port Example s C Use COM1 MacComm ComPort 1 BASIC Use COM1 MacComm ComPort 1 JVL Industri Elektronik A S User Manual MacComm OCX Control 14 3 3 Method Descriptions 3 3 1 OpenPort Return type Boolean Returns true if open was successful Description Use this method to open the port Example s C Opening the port bool Result MacComm OpenPort BASIC Opening the port Dim Result As Boolean Result MacComm OpenPort 3 3 2 ClosePort Description
27. ntegrated servo 2 MAC95 Integrated servo 3 MAC140 Integrated servo 4 MAC141 Integrated servo high torgue version of MAC140 12 MAC400 Integrated servo 13 MAC400B Integrated servo with brake 14 MAC800 Integrated servo 15 MAC800B Integrated servo with brake 64 SMC75 Stepper motor controller programmable 65 MIS231 Integrated stepper motor programmable 66 MIS232 Integrated stepper motor programmable 67 MIS234 Integrated stepper motor programmable JVL Industri Elektronik A S User Manual MacComm OCX Control 45 4 4 Parameter conversion factors The table columns have the following meanings Fixed the conversion factor can not be configured Number the register number in the motor Name the name of the register Factor the default conversion factor Res unit the engineering unit of the converted number PositionFactor AccelerationFactor and VelocityFactor each do not refer to a single register They are conversion factors that are common to registers that deal with position acceleration and velocity For further information see the reference guide entries 3 3 16 SetFactors 3 3 17 SetFactorsBig and 3 3 18 SetFactorsMIS 4 4 1 MAC50 MAC95 MAC140 MAC141 Fixed Number Name Factor Resulting unit N A PositionFactor 1 Pulses N A AccelerationFactor 248 3 RPM s N A VelocityFactor 0 4768 RPM D 7 T_SOLL 100 1023 Percent D 8
28. ress in ParamN um Parameters Type Name Description 16 bit signed integer Address Address of the MAC motor 16 bit signed integer ParamNum Parameter number Return type 16 bit signed integer Return value indicates what type the parameter is stored as internally in the MAC Motor 1 Invalid Invalid parameter 0 Word 16 bit unsigned integer 1 Integer 16 bit signed integer 2 Longint 32 bit signed integer 3 Fixed4 16 bit signed fixed point Unit 1 4096 4 Fixed8 16 bit signed fixed point Unit 1 256 5 Fixed16 32 bit signed fixed point Unit 1 65536 6 Fixed24 32 bit signed fixed point Unit 1 256 Description Use this method to determine how a parameter should be sent The integer types should just be used as parameters The Fixed4 type should be converted to an integer by multiplying with 4096 The Fixed8 type should be converted to an integer by multiplying with 256 The Fixed16 type should be converted to an integer by multiplying with 65536 The Fixed24 type should be converted to an integer by multiplying with 256 Example s C Get Parameter 100 s type short Type MacComm GetParameterType 100 BASIC Get Parameter 100 s type Dim ParameterType As Integer ParameterType MacComm GetParameterType 100 JVL Industri Elektronik A S User Manual MacComm OCX Control 22 3 3 12 Reset ml Address Parameters Type Name Description 16 bit unsigned short integer Addre
29. set in Address cscs tc dekanaat tt 33 3 3 28 NanoResetWait in Geleet veer 33 3 3 29 NanoDebug in Address out State out Inputs out Outputs ss 1201111112111115521111 22 34 3 3 30 RxPNOOP in Address out Valuel anna 35 3 3 31 RxPReset in Address a 35 3 3 32 RxPResetWait in Address sau 2 8 2 gke 36 323233 RxPStart in Addresse a ar tor ot 36 3 3 34 RxPStop in Address er ee ee een m 36 3 3 35 RxPPause in Address ii ii ii iet as ers 37 3 3 36 RxPStep lin Address in MinAddress in Mashddressl EE 37 3 3 37 RxPSetOutputs in Address in Outputs in Mask ENEE 38 3 3 38 ReadStatus in Address out Status out Position out ErrCount 39 3 3 39 WriteGroup in Group in ParamNum in Value 40 Appendiks a r aara aaa se SaNa sai 41 EECHER 42 Adding MacComm OCX to your program ees 43 4 2 1 MISUAL BASIS G sad NEN i a a ee 43 ADD MISUANC EE 43 42 37 7 MISU AL MEIE ira se a a 43 4 2 4 Borland C Builder 6 O miuenivaeneesenenavnenanaennnanannaenenntanannannanntannatanannananennannenananeuse 43 4 2 5 LABVIEW Ee ere 44 Motor type EE 45 Parameter conversion factors EEN 46 4 4 1 MAC50 MAC95 MAC140 MACTIAT nae aennanenananna 46 4 42 MAC400 and MAC800 servomotor Family 47 4 4 3 SMC75 MIS231 MIS232 MIS224A 47 CUSTOM d EE 48 JVL Industri Elektronik A S User Manual MacComm OCX Control 2 Introduction
30. ss Address of the motor 255 for broadcast Return type Boolean Returns true if reset was successful It will try the amount of times the property Retries has been set to before returning false Description Resets MAC motor to last flashed values Returns as soon as the Reset command has been sent to the MAC motor Example s C Reset MAC motor bool Result MacComm Reset 255 BASIC Reset MAC motor Dim Result As Boolean Result MacComm Reset 255 3 3 13 ResetWait in Address Parameters Type Name Description 16 bit unsigned short integer Address Address of the motor 255 for broadcast Return type Boolean Returns true if reset was successful It will try the amount of times the property Retries has been set to before returning false Description Resets MAC motor to last flashed values Returns when MAC motor is ready Example s C Reset MAC motor bool Result MacComm Reset 255 BASIC Reset MAC motor Dim Result As Boolean Result MacComm Reset 255 JVL Industri Elektronik A S User Manual MacComm OCX Control 23 3 3 14 WriteToFlash in Address Parameters Type Name Description 16 bit unsigned short integer Address Address of the motor 255 for broadcast Return type Boolean Returns true if flashing was successful It will try the amount of times the property Retries has been set to before returning false Descript
31. ter 1 in the module can be accessed by writing to ParamNum 257 Value is one of the following types cast to a long integer Word 16 bit unsigned integer Integer 16 bit signed integer Longint 32 bit signed integer Fixed4 16 bit signed fixed point Unit 1 4096 Fixed8 16 bit signed fixed point Unit 1 256 Fixed16 32 bit signed fixed point Unit 1 65536 Fixed24 32 bit signed fixed point Unit 1 256 Example s C Setting operation mode Parameter number 2 to Position mode 2 in group 1 bool Result MacComm WriteGroup 1 2 2 Setting Position Parameter 3 P SOLL to 4096 Value 4096 in group 1 bool Result MacComm WriteGroup 1 3 4096 BASIC Setting operation mode Parameter number 2 to Position mode 2 in group 1 Dim Result As Boolean Result MacComml WriteGroup 1 2 2 Setting Position Parameter 3 P SOLL to 4096 Value 4096 in group 1 Dim Result As Boolean Result MacComml WriteGroup 1 3 4096 JVL Industri Elektronik A S User Manual MacComm OCX Control 40 Appendix JVL Industri Elektronik A S User Manual MacComm OCX Control 41 4 1 Installation The MacComm OCX and required DLLs are installed automatically by running Setup exe and following the onscreen prompts You have the option to install a Visual Basic sample and a LabVIEW sample along with the OCX It can also be done manually by copying the following Microsoft redistrib
32. tionFactor 9 54 RPM s N A VelocityFactor 1 RPM X 89 96 ANALOG1 8 5 0 1024 Volts X 97 BUSVOL 111 4 1024 Volts X 98 MIN BUSVOL 111 4 1024 Volts JVL Industri Elektronik A S User Manual MacComm OCX Control 47 4 5 Custom Errors Hex value Description 2000 0000 Serial port could not be initialized 2000 0001 Serial port is not open 2000 0002 Could not write reguired Bytes to serial port 2000 0003 Answer is not of expected length 2000 0004 Invalid accept from mac motor 2000 0005 Startsync error in reply 2000 0006 Address mismatch in reply 2000 0007 Parameter number mismatch in reply 2000 0008 Parameter length mismatch in reply 2000 0009 Inversion check failed on value 2000 000A Endsync error in reply 2000 000B Unspecified error 2000 000C Error entering safe mode 2000 000D Timeout JVL Industri Elektronik A S User Manual MacComm OCX Control 48
33. tors See SetFactors The rest just pass through Types are handled automatically by this method Example s C Setting operation mode Parameter number 2 to Position mode Value 2 bool Result MacComm WriteParameterAlternate 255 2 2 Setting Position Parameter 3 P_SOLL to 4000 divided by Positionfactor Value 4000 bool Result MacComm WriteParameterAlternate 255 3 4000 BASIC Setting operation mode Parameter number 2 to Position mode Value 2 Dim Result As Boolean Result MacComm1 WriteParameterAlternate 255 2 2 Setting Position Parameter 3 P SOLL to 4000 divided by Positionfactor Value 4000 Dim Result As Boolean Result MacComm1 WriteParameterAlternate 255 3 4000 JVL Industri Elektronik A S User Manual MacComm OCX Control 19 3 3 7 GetParamN umFromN ame in Address in ParamN ame Parameters Type Name Description 16 bit signed integer Address Address of the MAC motor String ParamName Parameter name Return type 16 bit signed integer Returns parameter number or 0 if not found Description Use this method to retrieve the parameter number from the name Example s C Getting last error code unsigned short ParamNum MacComm GetParamNumFromName 255 P IST BASIC Getting last error code Dim ParamNum As Integer ParamNum MacComm GetParamNumFromName 255 P IST
34. utable DLLs to the Windows System folder OLEAUT32 DLL OLEPRO32 DLL MacComm OCX should be placed in a directory called MacComm in the Windows folder and registered with RegSvr32 i e Regsvr32 C Windows MacComm MacComm ocx JVL Industri Elektronik A S User Manual MacComm OCX Control 42 4 2 Adding M acComm OCX to your program MacComm OCX has been tested with a variety of different programming tools Below are the basic steps for adding it to programs made with these tools 4 2 1 Visual Basic 6 1 In the menu Projects click Components 2 Make sure the Selected Items Only checkbox is NOT selected 3 Find MacComm ActiveX Control module and put a checkmark besides it and click OK The MacComm OCX is now available in the controls bar When placed on a form the properties page of the object can be used to set the startup values for the 2 properties Retries ComPort baudrate and Group sends 4 2 2 Visual C 6 1 In the menu Projects choose Add To Project and click Components and Controls 2 Go into the folder Registered ActiveX Controls and click MacComm Control 3 Click Insert and two times OK followed by a Close The MacComm OCX is now available in the controls bar When put on a dialog the properties page of the object can be used to set the startup values for the 2 properties Retries ComPort baudrate and Group sends 4 2 3 Visual NET 1 In the menu Tools click Customize Toolbox 2 F
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