Intelligent Motion Systems MDrive34Plus manual Using User-Defined SPI, SPI Timing Notes

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SECTION 2.6

Using User-Defined SPI

The MDrivePlus can be configured and operated through the end-user's SPI interface without using the IMS SPI

Motor Interface software and optional parameter setup cable.

An example of when this might be used is in cases where the machine design requires parameter settings to be changed on-the-fly by a software program or multiple system MDrivePlus Microstepping units parameter states being written/read.

SPI Timing Notes

1.MSb (Most Significant bit) first and MSB (Most Significant Byte) first.

2.8 bit bytes.

3.25 kHz SPI Clock (SCK).

4.Data In (MOSI) on rising clock.

5.Data Out (MISO) on falling clock.

Figure 2.6.1: SPI Timing

Check Sum Calculation for SPI

The values in the example below are 8-bit binary hexadecimal conversions for the following SPI parameters:

MRC=25%, MHC=5%, MSEL=256, HCDT=500 mSec, WARNTEMP=80.

The Check Sum is calculated as follows: (Hex) 80+19+05+00+00+01+F4+50

Sum = E3

1110 0011

 

1’s complement = 1C

0001 1100

(Invert)

2’s complement = 1D

0001 1101

(Add 1)

Send the check sum value of 1D

Note: 80 is always the first command on a write.

Note: Once a write is performed, a read needs to be performed to see if there is a fault. The fault is the last byte of the read.

Part 2: Interfacing and Configuring

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Contents MDrive34Plus Microstepping MDrive34Plus Microstepping Hardware Reference Change Log Important information This page intentionally left blank Table Of Contents Appendices Appendix E Linear Slide Option List Of FiguresFigure C.2 10-Pin IDC List of Tables This Page Intentionally Left Blank MDrive34Plus Microstepping Figure GS.2 IMS Motor Interface Showing Default Settings Install the IMS SPI Motor InterfacePart Hardware Specifications Intentionally Left Blank Features and Benefits Configuration InterfaceIntroduction to the MDrive34Plus Microstepping Page Electrical Specifications General SpecificationsSingle Length Setup ParametersDimensions in Inches mm Mechanical SpecificationsConnector Options Locking Wire Crimp with Internal Optical EncoderPin Assignment And Description Flying Leads Version Wire Color With Internal Encoder Function DescriptionMDrive 34Plus Microstepping Hardware Revision R071108 Mosi P2 Connector SPI CommunicationsPin # Function Description Pin Assignment And Description Pluggable Interface VersionPD02-3400-FL3 P3 Connector DC Power, 2-Pin Locking Wire CrimpRecommended Cable Prototype Development Cables Mating Connector KitsQuickStart Kit Communication ConvertersIntentionally Left Blank Part Interfacing Configuring Intentionally Left Blank Mounting Flange or Adapter Plate Allow Top Clearance for Wiring/CablingMounting and Interface Guidelines Mounting RecommendationsRules of Wiring Layout and Interface GuidelinesRules of Shielding Recommended Mating Connectors and Pins 3 Typical MDrive Shown with Leads Secured Securing Power Leads and Logic LeadsChoosing a Power Supply for Your MDrive Interfacing DC PowerIP806 Unregulated Linear Supply DC Power Supply RecommendationsISP300-7 Unregulated Switching Supply IP804 Unregulated Linear Supply2 DC Power Connections Connecting DC PowerExample a Cabling Under 50 Feet, DC Power Recommended Power and Cable ConfigurationsMDrive34Plus Recommended Power Supply Cable AWG Intentionally Left Blank Isolated Logic Input Pins and Connections Isolated Input Interface and ConnectionOptically Isolated Logic Inputs See Input Configuration Input ConfigurationUp/Down Step ClockDirection QuadratureChannel B DirectionStep Channel aOptocoupler Reference Optocoupler ReferenceOpen Collector Interface Example Input Connection ExamplesSwitch Interface Example Switch Interface Sourcing+VDC Motor Supply Minimum Required ConnectionsConnecting SPI Communications Logic SPI Pins and Connections2 Logic Level Shifting and Conditioning Circuit Logic Level Shifting and Conditioning CircuitSPI Clock SPI Master with Multiple MDrivePlus MicrosteppingUsing the IMS SPI Motor Interface Installation Configuration Parameters and RangesColor Coded Parameter Values View Motion Settings Screen Read-Only Part Serial Number ScreenIMS SPI Motor Interface Menu Options FileUpgrade RecallHelp Msel Microstep Resolution Selection Screen 1 The Motion Settings Configuration ScreenExit Connected/Disconnected IndicatorFactory SetInput Clock Filter Screen 2 I/O Settings Configuration ScreenEnable Active High/Low Input Clock TypeFault Indication IMS Part Number/Serial Number ScreenIMS IMS Serial Number IMS SPI Upgrader Screen Upgrade InstructionsUpgrading the Firmware in the MDrivePlus Microstepping Port Menu Initialization ScreenIntentionally Left Blank Using User-Defined SPI SPI Timing NotesCheck Sum Calculation for SPI MSB SPI Commands and ParametersSPI Communications Sequence WriteIntentionally Left Blank Appendices MDrive 34Plus Microstepping Hardware Revision R071108 Speed-Torque Curves MDrive34Plus Microstepping Motor PerformanceTriple Length Motor SpecificationsSingle Length Double LengthSelecting a Planetary Gearbox Planetary GearboxesSection Overview Product OverviewExample Calculating the Shock Load Output Torque TABFactors Reduction RatioFigure B.1 MDrive34 Torque-Speed Curve Nominal Output Torque=1.6 =1.7 =1.9 Shock Load Output TorqueSystem Inertia Type of SystemLead Screw Rack and Pinion Conveyor BeltBelt Drive Rotary TableFigure B.6 Chain Drive System Inertia Considerations Chain DrivePlanetary Gearbox for MDrive34Plus MDrive34Plus Planetary Gearbox ParametersPM81 Gearbox Ratios and Part Numbers Intentionally Left Blank MD-CC30x-001 USB to SPI Converter and Parameter Setup Cable ConnectivityMD-CC300-001 Connector Detail and Mating Connector Kit Connector DetailsMating Connector Kit p/n CK-01 MD-CC3 MD-CC303-001Mating Connector Kit p/n CK-03 Figure C.4 12-Pin Wire CrimpInstalling the Cable/VCP Drivers Installation Procedure for the MD-CC30x-000Figure C.7 Hardware Update Wizard Screen Figure C.10 Hardware Properties Determining the Virtual COM Port VCPPrototype Development Cable PD12-1434-FL3 Wire Color CodePD10-3400-FL3 Internal Differential Encoder Mating Connector Kit p/n CK-02Mating Connector Kit p/n CK-05 Prototype Development Cable PD02-3400-FL3 Main PowerFactory Mounted Internal Encoder Interfacing an EncoderDifferential encoder Encoder ConnectionsEncoder Signals Single-End Encoder Available with Flying Leads Version onlyDifferential Encoder Encoder Cable Recommended Encoder Mating Connectors†Speed/Force correlating equations FeaturesLinear Slide Option MDrive34Plus Linear SlideMechanical Specifications SpecificationsWarranty Intelligent Motion Systems, Inc

MDrive34Plus specifications

The Intelligent Motion Systems MDrive34Plus is an advanced integrated stepper motor and drive solution designed for a wide range of industrial automation applications. This compact device combines the motor, drive, and control into a single unit, simplifying installation and minimizing space requirements. This makes it an ideal choice for applications where space and efficiency are critical.

One of the standout features of the MDrive34Plus is its high torque output, which enables it to handle significant loads with ease. Rated for a variety of torque configurations, this stepper motor provides the necessary power for demanding tasks while maintaining precise control and smooth operation. The MDrive34Plus also features a high-resolution microstepping capability, which enhances performance by providing smoother motion and reducing audible noise.

The device employs advanced digital control technologies, ensuring accurate positioning and minimizing erratic performance. Integrated with onboard intelligence, the MDrive34Plus allows for programmable settings, including acceleration, deceleration, and speed control, which can be customized according to the specific requirements of the application.

In terms of connectivity, the MDrive34Plus offers a range of communication protocols including RS-232, RS-485, and USB options, allowing it to easily integrate with various control systems and enable real-time monitoring and diagnostics. This flexibility is vital for modern automation solutions where adaptability is key.

The MDrive34Plus is also designed for robust performance in challenging environments, featuring an IP65 rated enclosure that protects against dust and moisture. This makes it suitable for use in a variety of industrial settings such as packaging, assembly, and robotics.

Furthermore, the MDrive34Plus supports both open-loop and closed-loop control configurations. This versatility provides users with the ability to choose the best operational mode for their application, optimizing performance and efficiency.

In conclusion, the Intelligent Motion Systems MDrive34Plus is a powerful, flexible, and easy-to-install integrated motor and drive solution. With its high torque capabilities, advanced digital control features, diverse connectivity options, and robust design, it stands out as an excellent choice for modern automation challenges. Whether for precise positioning tasks or heavy load handling, the MDrive34Plus is equipped to meet a broad spectrum of operational demands.
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