JVL MAC050 User Manual page 408

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