JVL MAC050 - Page 255

JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500 251
5.7 Expansion Module MAC00-FD4
The message frame for the type 0x1F is formatted according to the following:
The procedure is to setup the frame with the correct values and then set the "Load" -bit
in byte 0 as the last operation. This will load the frame into the motor and thereby set
the register value desired.
In response the motor will return a "Response" frame with the data from the register val-
ue that has been requested in the sent frame.
Semantics:
Load Data: Transition from 0->1 initiates the data loading in the motor. The frame
is setup with all data and then this bit is set to make the motor load the
data.
Direction: When the motor is used in velocity mode this bit is used to control the
direction of the movement. When velocity mode is used through.
Smooth stop: Bring the motor to stop using standard configured deceleration.
(deceleration ramp is the same as the acceleration ramp).
Hard stop: Bring the motor to an immediate stop.
Enable: Bring the motor into an active mode clearing this bit will bring the mo-
tor into "Passive" -mode.
Byte 7 6 5 4 3 2 1 0
0
Enable - Hard stop
Smooth
stop
Direction
(vel. mode)
- -
Load
Data
1
Register number to get
2
0x1 Command message type
3
Register number to set
4
Data value byte 0
5
Data Value byte 1
6
Data Value byte 2
7
Data Value byte 3