Problem solved! The elbow macro use a special channel (DAC8) that is made up in Maxon547 module using port A0-8 and B0-4 The cable to that special part was somehow unplugged which prevents the program from initializing DAC8

The initialization scheme is the following: (see main.cpp)

-Create a pointer to Servogoto, say stg, this initializes DAC0-7

-Create a pointer to maxon547Driver, say max, using stg in the constructor, this initializes DAC8

-make sure the cable to maxon547 is plugged in

To write a raw command to the motors use the following command: (assume that stg and max are the pointers created in the initialization part)

-stg->rawDAC(i,n) : write voltage V (converted from the 12-bit int n) to channel DACi with i=0,1..7

-max->writeData(n) : write to DAC8 (macro elbow)