JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500 271
5.8 Expansion Module MAC00-FP2/FP4
5.8.3 Output data (Master->Slave)
The MAC00-FP2/FP4 module contains 9 bytes of output data.
Write data
For 16 bit registers, the data must be placed in Write data 0 and Write data 1.
For 32 bit registers, the data must be placed in Write data 0-3.
Write register selector
The number of the register to write to should be placed here. The register must be in
the range 1-255.
Read register selector
The number of the register to read from should be placed here. The register must be in
the range 1-255.
Direct register
This register can be used to execute a FlexMac
2
command. When writing to this Register,
the command will be executed immediately. The bit 0-6 is the command, and bit 7 is not
used. If the same command is to be executed twice, bit 7 can be toggled.
The command is accepted when the “Last direct register”, in the input data, has the same
value as this register.
Address Name Description
0 Write data 3 (MSB) Data to write to register
1 Write data 2 --- “---
2 Write data 1 --- “---
3 Write data 0 (LSB) --- “---
4 Write register selector The register to write
5 Read register selector The register to read
6 Direct register Direct FlexMac command
7 Command Bits for commanding reads/write
8 Input setup Bits for input setup
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