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<?xml version="1.0" encoding="UTF-8"?>
<mesamodbus baudrate="115200" parity="E" stopbits="1" interval="100000">
  <!-- Note the interval setting: 100000 us (10 Hz) -->
  <!-- It may be necessary to start suspended (suspend="true") to setup pins before starting to send data -->
  <devices>
    <device address="0x02" name="mrje70a">
      <description>Manual for MR-JE-_A device communication:
  title: "MR-JE-_A SERVO AMPLIFIER INSTRUCTION MANUAL (Modbus RTU Protocol)"
  link:  https://dl.mitsubishielectric.com/dl/fa/document/manual/servo/sh030177/sh030177c.pdf
See chapter 6 for modbus types.
      </description>
    </device>
  </devices>

  <initlist>
    <!-- There should probably be some commands here... see comments below -->
  </initlist>

  <commands>
    <command device="mrje70a" function="R_REGISTERS" address="0x2b01" unaligned="1">
      <pin name="cfp" modbustype="S_CDAB" haltype="HAL_S32" />
    </command>
    <command device="mrje70a" function="R_REGISTERS" address="0x2b0f">
      <pin name="volt" modbustype="U_AB" haltype="HAL_U32" />
    </command>
    <command device="mrje70a" function="R_REGISTERS" address="0x2b2d">
      <pin name="power" modbustype="S_AB" haltype="HAL_S32" />
    </command>
    <command device="mrje70a" function="R_REGISTERS" address="0x2001" unaligned="1">
      <pin name="rpa01" modbustype="S_CDAB" haltype="HAL_S32" />
    </command>
    <!-- Not sure this should be read all the time -->
    <command device="mrje70a" function="R_REGISTERS" address="0x2801" modbustype="U_AB" haltype="HAL_U32">
      <pin name="rnument-2801" modbustype="U_A"/>
      <pin name="position" modbustype="S_CDAB" haltype="HAL_S32"/>
      <pin name="speed"/>
      <pin name="accel"/>
      <pin name="decel"/>
      <pin name="dwell"/>
      <pin name="subfunc" modbustype="U_A"/>
      <pin name="mcode" modbustype="U_A"/>
    </command>

    <!-- NOTE: The following command is only read *once* because EEPROM data is static data -->
    <command device="mrje70a" modbustype="U_CDAB" haltype="HAL_U32" function="R_REGISTERS" address="0x1010" interval="once" unaligned="1">
      <pin name="rnument-1010" modbustype="U_A"/>
      <pin name="eesave-all-parms"/>
      <pin name="eesave-comm-parms"/>
      <pin name="eesave-app-parms"/>
      <pin name="eesave-factory-parms"/>
      <pin name="eesave-point-table"/>
    </command>

    <command device="mrje70a" modbustype="U_CDAB" haltype="HAL_U32" function="R_REGISTERS" address="0x2c12" unaligned="1">
      <pin name="rnument-2c12" modbustype="U_A"/>
      <pin name="rextindsp-1"/>
      <pin name="rextindsp-2"/>
      <pin name="rextindsp-3"/>
      <pin name="rextindsp-4"/>
    </command>
    <command device="mrje70a" modbustype="U_AB" haltype="HAL_U32" function="R_REGISTERS" address="0x6041">
      <pin name="status"/>
    </command>
    <command device="mrje70a" modbustype="U_AB" haltype="HAL_U32" function="R_REGISTERS" address="0x6040">
      <pin name="rcontrolword"/>
    </command>
    <command device="mrje70a" modbustype="S_A" haltype="HAL_S32" function="R_REGISTERS" address="0x6061">
      <pin name="mode"/>
    </command>

    <!-- This is probably not something you want to read all the time. -->
    <!-- Does this change? it is written down below, see comment there. -->
    <command device="mrje70a" modbustype="S_AB" haltype="HAL_S32" function="R_REGISTERS" address="0x2d60">
      <pin name="rtargetpt"/>
    </command>

    <command device="mrje70a" modbustype="U_CDAB" haltype="HAL_U32" function="R_REGISTERS" address="0x6099">
      <pin name="rnument-6099" modbustype="U_A"/>
      <pin name="rhps-spd-switch"/>
      <pin name="rhps-spd-zero"/>
    </command>

    <!-- *** Write commands follow *** -->
 
    <!-- Setting the control word will need to be setup properly on the pin *before* the driver starts sending data. -->
    <!-- It also might be an initlist entry -->
    <command device="mrje70a" function="W_REGISTERS" modbustype="U_AB" haltype="HAL_U32" address="0x6040">
      <pin name="ctrlwordwt"/>
    </command>

    <!-- Setting the operational mode should most likely be done in the initlist -->
    <command device="mrje70a" function="W_REGISTERS" modbustype="S_A" haltype="HAL_S32" address="0x6060">
      <pin name="wopermode"/>
    </command>

    <!-- Setting the point table reference will need to be setup properly on the pin *before* the driver starts sending data. -->
    <!-- If it is to be in the command list, then writeflush polarity must be considered -->
    <!-- It might be required to be an initlist entry, as this is most likely a static config -->
    <command device="mrje70a" function="W_REGISTERS" modbustype="S_AB" haltype="HAL_S32" address="0x2d60">
      <pin name="wtargetpt"/>
    </command>
 
    <!-- Setting homing speed should probably be done in the initlist -->
    <!-- *** This write requires pin setup /before/ it is sent. *** The wnument-6099 should to be set to 0x02. -->
    <command device="mrje70a" function="W_REGISTERS" address="0x6099" modbustype="U_CDAB" haltype="HAL_U32">
      <pin name="wnument-6099" modbustype="U_A"/>
      <pin name="whps-spd-switch"/>
      <pin name="whps-spd-zero"/>
    </command>
  </commands>
</mesamodbus>