Intelligent Motion Systems MDrive34Plus manual SPI Commands and Parameters, Msb

Page 64

SPI Commands and Parameters

Use the following table and figure found on the following page together as the Byte order read and written from the MDrivePlus Microstepping, as well as the checksum at the end of a WRITE is critical.

 

 

SPI Commands and Parameters

 

Command/

HEX

Range

Notes

 

Parameter

(Default)

 

 

 

 

READ ALL

0x40

—

Reads the hex value of all parameters

MSB

Device (M)

0x4D

—

M Character precedes every READ

 

Version_MSB

0x10

<1-8>.<0-9>

Firmware Version.Sub-version, eg 1.0

 

Version_LSB

0x00

<0-99>

Firmware Version Appends to Version_

 

MSB, eg.00

 

 

 

 

 

USR_ID1

0x49

—

Uppercase Letter <I>

 

USR_ID2

0x4D

—

Uppercase Letter <M>

 

USR_ID3

0x53

—

Uppercase Letter <S>

 

MRC

0x19

1-67%

Motor Run Current

 

MHC

0x05

0-67%

Motor Hold Current

 

MSEL

0x00

0*, 1-259

Microstep Resolution (See Table in Section

 

*0=256

2.4 for settings)

 

 

 

 

DIR_OVRID

0x00

0=no override

Direction Override

 

1=override dir

 

 

 

 

 

HCDT_HI

0x01

0 or 2-65535

Hold Current Delay Time High Byte

 

HCDT_LO

0xF4

Hold Current Delay Time Low Byte

 

 

 

 

 

0=s/d,

 

 

CLKTYP

0x00

1=quad,

Input Clock Type

 

 

 

2=u/d

 

 

CLKIOF

0x00

<0-9>

Clock Input Filtering

 

WARNTEMP

0x50

 

OVER_TEMP - 5° C

 

EN_ACT

0x01

0=Low

Enable Active High/Low

 

1=High,

 

 

 

 

LSB

FAULT

0x00

—

See Fault Table, Section 2.4

 

WRITE ALL

0x80

—

Writes the hex value to the following

 

parameters.

 

 

 

 

MSB

USR_ID1

0x49

—

Uppercase Letter <I>

 

USR_ID2

0x4D

—

Uppercase Letter <M>

 

USR_ID3

0x53

—

Uppercase Letter <S>

 

MRC

0x19

1-100%

Motor Run Current

 

MHC

0x05

0-100%

Motor Hold Current

 

MSEL

0x00

0*, 1-259

Microstep Resolution (See Table in Section

 

*0=256

2.4 for settings)

 

 

 

 

DIR_OVRID

0x00

0=no override

Direction Override

 

1=override dir

 

 

 

 

 

HCDT_HI

0x01

0 or 2-65535

Hold Current Delay Time High Byte

 

HCDT_LO

0xF4

Hold Current Delay Time Low Byte

 

 

 

 

 

0=s/d,

 

 

CLKTYP

0x00

1=quad,

Input Clock Type

 

 

 

2=u/d

 

 

CLKIOF

0x00

<0-9>

Clock Input Filtering

 

WARNTEMP

0x50

 

OVER_TEMP - 5° C

 

EN_ACT

0x01

0=Low

Enable Active High/Low

 

1=High

 

 

 

 

LSB

CKSUM

 

 

34

 

Table 2.6.1: SPI Commands and Parameters

2-36

MDrive 34Plus Microstepping Hardware - Revision R071108

 

Relevant to Firmware Version 3.0.02

Page 63 Page 65
Image 64
Page 63 Page 65
Contents MDrive34Plus Microstepping MDrive34Plus Microstepping Hardware Reference Change Log Important information This page intentionally left blank Table Of Contents Appendices List Of Figures Appendix E Linear Slide OptionFigure C.2 10-Pin IDC List of Tables This Page Intentionally Left Blank MDrive34Plus Microstepping Install the IMS SPI Motor Interface Figure GS.2 IMS Motor Interface Showing Default SettingsPart Hardware Specifications Intentionally Left Blank Configuration Interface Features and BenefitsIntroduction to the MDrive34Plus Microstepping Page General Specifications Electrical SpecificationsSetup Parameters Single LengthMechanical Specifications Dimensions in Inches mmLocking Wire Crimp with Internal Optical Encoder Connector OptionsWire Color With Internal Encoder Function Description Pin Assignment And Description Flying Leads VersionMDrive 34Plus Microstepping Hardware Revision R071108 P2 Connector SPI Communications MosiPin Assignment And Description Pluggable Interface Version Pin # Function DescriptionP3 Connector DC Power, 2-Pin Locking Wire Crimp PD02-3400-FL3Recommended Cable Mating Connector Kits QuickStart KitCommunication Converters Prototype Development CablesIntentionally Left Blank Part Interfacing Configuring Intentionally Left Blank Allow Top Clearance for Wiring/Cabling Mounting and Interface GuidelinesMounting Recommendations Mounting Flange or Adapter PlateLayout and Interface Guidelines Rules of WiringRules of Shielding Recommended Mating Connectors and Pins Securing Power Leads and Logic Leads 3 Typical MDrive Shown with Leads SecuredInterfacing DC Power Choosing a Power Supply for Your MDriveDC Power Supply Recommendations ISP300-7 Unregulated Switching SupplyIP804 Unregulated Linear Supply IP806 Unregulated Linear SupplyConnecting DC Power 2 DC Power ConnectionsRecommended Power and Cable Configurations Example a Cabling Under 50 Feet, DC PowerMDrive34Plus Recommended Power Supply Cable AWG Intentionally Left Blank Isolated Input Interface and Connection Isolated Logic Input Pins and ConnectionsOptically Isolated Logic Inputs Input Configuration See Input ConfigurationStep Clock DirectionQuadrature Up/DownDirection StepChannel a Channel BOptocoupler Reference Optocoupler ReferenceInput Connection Examples Open Collector Interface ExampleSwitch Interface Sourcing Switch Interface ExampleMinimum Required Connections +VDC Motor SupplyConnecting SPI Communications SPI Pins and Connections LogicLogic Level Shifting and Conditioning Circuit 2 Logic Level Shifting and Conditioning CircuitSPI Master with Multiple MDrivePlus Microstepping SPI ClockConfiguration Parameters and Ranges Using the IMS SPI Motor Interface InstallationColor Coded Parameter Values Motion Settings Screen Read-Only Part Serial Number Screen IMS SPI Motor Interface Menu OptionsFile ViewRecall UpgradeHelp Screen 1 The Motion Settings Configuration Screen Msel Microstep Resolution SelectionConnected/Disconnected Indicator FactorySet ExitScreen 2 I/O Settings Configuration Screen Enable Active High/LowInput Clock Type Input Clock FilterIMS Part Number/Serial Number Screen Fault IndicationIMS IMS Serial Number Upgrade Instructions IMS SPI Upgrader ScreenUpgrading the Firmware in the MDrivePlus Microstepping Initialization Screen Port MenuIntentionally Left Blank SPI Timing Notes Using User-Defined SPICheck Sum Calculation for SPI SPI Commands and Parameters MSBWrite SPI Communications SequenceIntentionally Left Blank Appendices MDrive 34Plus Microstepping Hardware Revision R071108 MDrive34Plus Microstepping Motor Performance Speed-Torque CurvesMotor Specifications Single LengthDouble Length Triple LengthPlanetary Gearboxes Section OverviewProduct Overview Selecting a Planetary GearboxCalculating the Shock Load Output Torque TAB FactorsReduction Ratio ExampleNominal Output Torque Figure B.1 MDrive34 Torque-Speed CurveShock Load Output Torque =1.6 =1.7 =1.9Type of System System InertiaLead Screw Conveyor Belt Rack and PinionRotary Table Belt DriveChain Drive Figure B.6 Chain Drive System Inertia ConsiderationsMDrive34Plus Planetary Gearbox Parameters Planetary Gearbox for MDrive34PlusPM81 Gearbox Ratios and Part Numbers Intentionally Left Blank Connectivity MD-CC30x-001 USB to SPI Converter and Parameter Setup CableMD-CC300-001 Connector Details Connector Detail and Mating Connector KitMating Connector Kit p/n CK-01 MD-CC303-001 MD-CC3Figure C.4 12-Pin Wire Crimp Mating Connector Kit p/n CK-03Installation Procedure for the MD-CC30x-000 Installing the Cable/VCP DriversFigure C.7 Hardware Update Wizard Screen Determining the Virtual COM Port VCP Figure C.10 Hardware PropertiesWire Color Code Prototype Development Cable PD12-1434-FL3Mating Connector Kit p/n CK-02 PD10-3400-FL3 Internal Differential EncoderPrototype Development Cable PD02-3400-FL3 Main Power Mating Connector Kit p/n CK-05Interfacing an Encoder Factory Mounted Internal EncoderEncoder Connections Differential encoderSingle-End Encoder Available with Flying Leads Version only Encoder SignalsDifferential Encoder Recommended Encoder Mating Connectors Encoder CableFeatures Linear Slide OptionMDrive34Plus Linear Slide †Speed/Force correlating equationsSpecifications Mechanical 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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