JVL MAC050 - Page 409

JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500 405
6.11 MacTalk communication
6.11.4 Application examples
Setting mode 1 (Position mode)
This command writes 1 to register 2 (MODE_REG) on motor 8.
Transmit: 52h,52h,52h - 08h,F7h - 02h,FDh - 02h,FDh - 01h,FEh,00h,FFh - AAh,
AAh
Response: 11h, 11h, 11h
Setting position 100,000
This command writes 100,000 to register 3 (P_SOLL) on motor 8.
Transmit: 52h, 52h, 52h - 07h, F8h - 03h, FCh - 04h, FBh - A0h, 5Fh, 86h, 79h, 01h,
FEh, 00h, FFh - AAh, AAh
Response: 11h, 11h, 11h
Reading the motor status
This command reads register 35 (ERR_STAT) from motor 8
Transmit: 50h, 50h, 50h - 08h, F7h - 23h, DCh - AAh, AAh
Response: 52h, 52h, 52h - 00h, FFh - 23h, DCh - 04h, FBh - 10h, EFh, 00h, FFh, 00h,
FFh, 00h, FFh - AAh, AAh
The motor responded with ERR_STAT = 0010h - meaning “In Position”.
Setting the maximum speed
This command sets the max speed to 1000 rpm = 2097 pulses/sample (2097 = 831h).
This is done by writing to register 5 (V_SOLL)
Transmit: 52h, 52h, 52h - 08h, F7h - 05h, FAh - 02h, FDh - 31h, CEh, 08h, F7h - AAh,
AAh
Response: 11h, 11h, 11h
Reading the actual position
This command reads register 10 (P_IST) from motor 8
Transmit: 50h, 50h, 50h - 08h, F7h - 0Ah, F5h - AAh, AAh
Response: 52h, 52h, 52h - 00h, FFh - 0Ah, F5h - 04h, FBh - 08h, F7h, BDh, 42h, 03h,
FCh, 00h, FFh - AAh, AAh
The position was 245,000 (3BD08h)
Only MAC050 to 141