JVL MAC050 User Manual page 255

5.7 Expansion Module MAC00-FD4
The message frame for the type 0x1F is formatted according to the following:
Byte
0
1
2
3
4
5
6
7
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:
Direction:
Smooth stop:
Hard stop:
Enable:
JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
7 6 5
Enable - Hard stop
Register number to get
0x1
Register number to set
Data value byte 0
Data Value byte 1
Data Value byte 2
Data Value byte 3
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.
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.
Bring the motor to stop using standard configured deceleration.
(deceleration ramp is the same as the acceleration ramp).
Bring the motor to an immediate stop.
Bring the motor into an active mode clearing this bit will bring the mo-
tor into "Passive" -mode.
4 3
Smooth Direction
stop (vel. mode)
Command message type
2 1 0
Load
- -
Data
251