JVL MAC050 - Page 407

JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500 403
6.11 MacTalk communication
6.11.2 Writing to a register
Block description
(1) Protected means that these data must be sent twice, first non-inverted and then inverted.
Example 1:
Writing 600 (258h) to register 5 (16 bit) to the MAC motor with address 8.
Transmit: 52h, 52h, 52h - 08h, F7h - 05h, FAh - 02h, FDh - 58h, A7h, 02h, FDh -
AAh, AAh
Response: 11h, 11h, 11h
Example 2:
Write 230,000 (38270h) to register 3 (32 bit) to the MAC motor with address 7.
Transmit: 52h, 52h, 52h - 07h, F8h - 03h, FCh - 04h, FBh -70h, 8Fh, 82h, 7Dh, 03h,
FCh, 00h, FFh - AAh, AAh
Response: 11h, 11h, 11h
Controller sends MAC motor response
<Write><Address><RegNum><Len><Data><End> <Accept>
Block Name
Protected (1)
Example Description
<Write> No 52h,52h,52h Write command
<Address> Yes 07h,F8h (Address 7) The address of the MAC motor
<RegNum> Yes 05h,FAh (RegNum 5) The register number to write to
<Len> Yes 02h,FDh (Len = 2) The number of data bytes
<Data> Yes
E8h,17h, 03h,FCh
(Data = 1000)
The data to write to the register
<End> No AAh, AAh Command termination
<Accept> No 11h, 11h,11h Accept from MAC motor
Only MAC050 to 141