Moons' M2DV-1D82D User Manual page 162

M Series AC Servo
User Manual
3. Sending Command
First Step:
Set velocity mode acceleration register as 40047 = 258h, deceleration register as 40048 = 4B0h, and
velocity register 40049 = 960h.
Host Sending: 01 10 00 2E 00 03 06 02 58 04 B0 09 60 A0 9F
Drive Reply: 01 10 00 2E 00 03 E0 01
Command Message (Master)
Function
Slave Address
Function Code
Starting Data Address
Number of Data
(In word)
Number of Data
(In word)
Content of first Data
address 40047
Content of second Data
address 40048
Content of third Data
address 40049
CRC Check Low
CRC Check High
Second Step : Command For Executing Point To Point Motion
Chapter 9.3.7 command Opode describes register 40125's control code. From the SCL code list shows
that for JOG mode, it requires to write data 0x66 to register 40125 to start, and sending 0xD8 to register
40125 to stop.
Function
Start Jogging
Stop Jogging
Start
Host Sending: 01 06 00 7C 00 96 C8 7C
Drive Reply: 01 06 00 7C 00 96 C8 7C
Stop
Host Sending: 01 06 00 7C 00 D8 48 48
Drive Reply: 01 06 00 7C 00 D8 48 48
Rev. 1.1
9/13/2021
Data Number Of Bytes
01H 1
10H 1
00H (High)
2
2EH (Low)
00H (High)
2
03H (Low)
06H 1
02 (High)
2
58 (Low)
04H (High)
2
B0H (Low)
09H (High)
2
60H (Low)
A0 1
9F 1
SCL Command Encoding Table
SCL Opcode Parameter 1
CJ 0x96 ×
SJ 0xD8 ×
Command Message (Slave)
Function
Slave Address
Function Code
Starting Data Address
Number of Data
(In word)
CRC Check Low
CRC Check High
Parameter 2 Parameter 3
× ×
× ×
162
Data Number Of Bytes
01H 1
10H 1
00H (High)
2
2EH (Low)
00H (High)
2
03H (Low)
70 1
0D 1
Parameter 4 Parameter 5
× ×
× ×
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