JVL MAC050 User Manual page 277

5.8 Expansion Module MAC00-FP2/FP4
5.8.4 Write to a register example
If a new velocity need to be written to the motor it is done after this step by step proce-
dure.
1.
2.
3.
4.
Definitions:
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JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
Write the new speed value to the 4 data bytes (32 bits) on address 0 to 3.
Setup the register number where the data must be written to.
In this case it is the velocity register which is register 5 so this number must be
written into the "write register selector" address 4.
In the "Command" register at address 7 the "Write 32bit" and the "Write tog-
gle" must be toggled.
Wait until the "Write toggle" bit in the "Command status" register is the same
as the "write toggle" in the "Command" register. Only when they are equal the
write cycle is completely finished.
Change to opposite state. (from 0 to 1 or from 1 to 0). On bit level it corre-
spond to making an inverse of the bit.
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