Intelligent Motion Systems MDriveAC manual Write, SPI Communications Sequence

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			READ ALL CMD
WRITE (MOSI): 40	FF	FF	FF FF FF FF FF	FF	FF	FF	FF FF	FF	FF	FF FF
RESPONSE (MISO): XX	4D	10	00 49 4D 53 19	05	00	00	01 F4	00	00	50 01

00

00	FAULT
00	EN_ACT
80	WARNTEMP

0CLKIOF

0CLKTYP

	500	HCDT_LO
	500	HCDT_HI
		HCDT_HI
	0	DIR_OVRID
	256	MSEL
	5	MHC
	25	MRC
	S	USR_ID3

MUSR_ID2

I USR_ID1

1.0.00VERSION

M DEVICE

WRITE ALL CMD

WRITE (MOSI):

RESPONSE (MISO):

80 XX

494D FF FF

53 FF

1905 FF FF

00 FF

00 FF

01	F4	00	00	50	01	33
FF FF FF FF FF FF						FF

I

M

S 25 5 256 0

500

0 0 80 00 51

USR_ID1 USR_ID2 USR_ID3

MRC MHC MSEL DIR_OVRID HCDT_HI HCDT_LO CLKTYP CLKIOF WARNTEMP EN_ACT CKSUM

CHECKSUM CALCULATION 80+49+4D+53+19+05+00+00+01+F4+00+00+50+01=CD BINARY = 1100 1101

1'S COMPLEMENT = 0011 0010

2'S COMPLEMENT = 0011 0011 DEC = 51

HEX = 33

Figure 2.4.2: Read/Write Byte Order for Parameter Settings (Default Parameters Shown)

SPI Communications Sequence

See Timing Diagram and Byte Order figures.

READ

1.Send READ ALL Command 0x40 down MOSI to MDriveAC Plus Microstepping followed by FF (15 Bytes).

2.Receive Parameter settings from MISO MSB First (M-Device) and ending with LSB (Fault).

Write

1.Send WRITE ALL Command (0x80) down MOSI followed by Parameter Bytes beginning with MSB (MRC) and ending with the LSB (Checksum of all parameter Bytes).

2.Response from MISO will be FF (10) Bytes.

Part 2: Interfacing and Configuring

2-23

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Contents 34 TM Low Voltage Installation Information UL Application Details and Conditions of AcceptanceTable Of Contents Appendices List Of Figures List of Tables MDriveAC Plus Microstepping Connecting AC PowerConnect Opto Power and Logic Inputs Before You BeginConnecting Parameter Setup Cable Install the IMS SPI Motor InterfacePart Hardware Specifications Intentionally Left Blank Introduction to the MDrive34AC Plus Microstepping ConfiguringFeatures and Benefits Page MDrive34AC Plus Microstepping Detailed Specifications General SpecificationsSetup Parameters Single LengthMechanical Specifications Dimensions in Inches mmP1 19-Pin M23 Connector I/O and SPI Communications Pin Assignment and DescriptionPin Assignment P1 I/O, SPI and Encoder Connections Pin Options and AccessoriesP3 Connector AC Power Introduction to the MDrive42AC Plus Microstepping Page MDrive42AC Plus Microstepping Detailed Specifications Setup Parameters 76.2 Pin Assignment and Description Pin Assignment P1 I/O, SPI and Encoder Connections Outside Pins 1 Options and Accessories Part Interfacing Configuring Intentionally Left Blank Optically Isolated Logic Inputs Isolated Logic Input Pins and ConnectionsLogic Interface and Connection Quadrature Step ClockDirection Up/DownChannel a DirectionStep Channel BOptocoupler Reference Optocoupler ReferenceInput Connection Examples Open Collector Interface ExampleSwitch Fault Temperature Warning OutputSwitch Interface Example 7 Fault Output interfaced to an LED Minimum Required ConnectionsConnecting SPI Communications SPI Clock SPI Pins and ConnectionsSPI Master with Multiple MDriveAC Plus Microstepping Color Coded Parameter Values Using the IMS SPI Motor Interface InstallationConfiguration Parameters and Ranges File Motion Settings Screen Read-Only Part Serial Number ScreenIMS SPI Motor Interface Menu Options ViewHelp UpgradeRecall Screen 1 The Motion Settings Configuration Screen Msel Microstep Resolution SelectionSet Connected/Disconnected IndicatorFactory ExitInput Clock Type Screen 2 I/O Settings Configuration ScreenEnable Active High/Low Input Clock FilterIMS IMS Serial Number Fault IndicationIMS Part Number/Serial Number Screen Upgrading the Firmware in the MDriveAC Plus Microstepping IMS SPI Upgrader ScreenUpgrade Instructions Initialization Screen Port MenuCheck Sum Calculation for SPI Using User-Defined SPISPI Timing Notes SPI Commands and Parameters MSBWrite SPI Communications SequenceIntentionally Left Blank Appendices MDriveAC Plus Microstepping Hardware Revision R121707 MDrive34AC 240VAC MDriveAC Plus Microstepping Motor PerformanceMDrive34AC 120VAC Single LengthMDrive42AC Plus Microstepping Double LengthTriple Length MDrive42AC 120VACOz-in/810 N-cm Product Overview MDrive with Planetary GearboxSection Overview Selecting a Planetary GearboxReduction Ratio Calculating the Shock Load Output Torque TABFactors Nominal Output Torque Speed in Full Steps per SecondShock Load Output Torque =1.6 =1.7 =1.9Lead Screw System InertiaType of System Conveyor Belt Rack and PinionRotary Table Belt DriveChain Drive Figure B.6 Chain Drive System Inertia ConsiderationsPM81 Gearbox Ratios and Part Numbers Planetary Gearbox for MDrive34AC Plus2MDrive34AC Plus2 Planetary Gearbox Parameters PM105 Gearbox Ratios and Part Numbers Planetary Gearbox for MDrive42AC Plus2MDrive42AC Plus2 Planetary Gearbox Parameters PM105 MDrive42AC Plus2 Planetary Gearbox Parameters PM120 PM120 Gearbox Ratios and Part NumbersInstalling the Cable/VCP Drivers MD-CC300-000 USB to SPI Parameter Setup CableInstallation Procedure for the MX-CC300-000 Optional Cables and CordsetsFigure C.4 Hardware Update Wizard Screen Figure C.7 Hardware Update Wizard Finish Installation Determining the Virtual COM Port VCPAdapter To Controller InterfacePin Assignment and Wire Colors MD-CS10x-000 CordsetMD-CS20x-000 Cordset MD-CS201-000Factory Mounted Encoder Pin ConfigurationInterfacing the Internal Differential Optical Encoder Encoder Signals Differential EncoderMDrive34Plus Linear Slide FeaturesLinear Slide Option Speed-Force Limitations†Specifications Mechanical SpecificationsWarranty Excellence in Motion