JVL MAC050 - Page 408

404 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
6.11 MacTalk communication
6.11.3 Reading from a register
Block description
(1) Protected means that these data must be sent twice, first non inverted and then inverted.
Example 1:
Reading the value of register 5 from MAC motor with address 8.
Transmit: 50h, 50h, 50h - 08h, F7h - 05h, F6h - AAh, AAh
Response: 52h, 52h, 52h - 00h, FFh - 05h, F6h - 04h, FBh - 58h, A7h, 02h, FDh, 00h,
FFh, 00h, FFh - AAh, AAh
The value of register 5 was 500 (258h).
Example 2:
Reading the value of register 3 from MAC motor with address 8.
Transmit: 50h, 50h, 50h - 08h, F7h - 03h, FCh - AAh, AAh
Response: 52h, 52h, 52h - 00h, FFh - 05h, F6h - 04h, FBh - 70h, 8Fh, 82h, 7Dh, 03h,
FCh, 00h, FFh - AAh, AAh
The value of register 3 was 230,000 (38270h).
Controller sends MAC motor response
<Read><Address><RegNum><End> <Write><Address><RegNum><Len><Data><End>
Block Name
Protected
(1)
Example Description
<Read> No 50h,50h,50h Read command
<Address> Yes 07h,F8h (Address 7) The address of the MAC motor
<RegNum> Yes 05h,FAh (RegNum 5) The register number to read
<End> No AAh, AAh Command termination
<Write> No 52h,52h,52h Write command
<Address> Yes 00h,FFh (Address 0)
This will always be 0, because this is the
address of the master
<RegNum> Yes 05h,FAh (RegNum 5)
This will always be the same as
requested
<Len> Yes 04h,FBh (Len = 4) The length will always be 4
<Data> Yes
E8h,17h, 03h,FCh,
00h, FFh, 00h,FFh
(Data = 1000)
The data read from the register
<End> No AAh, AAh Command termination
Only MAC050 to 141