Intelligent Motion Systems MDrive34AC manual SPI Commands and Parameters, 2-22

Page 51

SPI Commands and Parameters

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 MDriveAC Plus Microstepping, as well as the checksum at the end of a WRITE is critical.

		SPI Commands and Parameters
	Command/	HEX	Range	Notes
	Parameter	(Default)	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_
	Version_LSB	0x00	<0-99>	MSB, eg.00
				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
	MSEL	0x00	*0=256	2.4 for settings)
			*0=256	2.4 for settings)
	DIR_OVRID	0x00	0=no override	Direction Override
	DIR_OVRID	0x00	1=override dir	Direction Override
			1=override dir
	HCDT_HI	0x01	0 or 2-65535	Hold Current Delay Time High Byte
	HCDT_LO	0xF4	0 or 2-65535	Hold Current Delay Time Low 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	0x00	0=High 1=low,	Enable Active High/Low
LSB	FAULT	0x00	—	See Fault Table, Section 2.4
	WRITE ALL	0x80	—	Writes the hex value to the following
	WRITE ALL	0x80	—	parameters.
				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
	MSEL	0x00	*0=256	2.4 for settings)
			*0=256	2.4 for settings)
	DIR_OVRID	0x00	0=no override	Direction Override
	DIR_OVRID	0x00	1=override dir	Direction Override
			1=override dir
	HCDT_HI	0x01	0 or 2-65535	Hold Current Delay Time High Byte
	HCDT_LO	0xF4	0 or 2-65535	Hold Current Delay Time Low 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
	EN_ACT	0x01	1=High	Enable Active High/Low
			1=High
LSB	CKSUM			34

	Table 2.4.1: SPI Commands and Parameters
2-22	MDriveAC Plus Microstepping Hardware - Revision R031808
	Relevant to Firmware Version 3.0.02

Image 51

Contents OPERATING INSTRUCTIONS Excellence in MotionTM34 TM 42TMLow Voltage Installation Information inaccuraciesMDriveAC Plus Microstepping Revision R031808 Important information Qualification of personnelIntended Use This page intentionally left blank 1-13 Table Of ContentsPart 1 Hardware Specifications Part 2 Interfacing and Configuration2-21 Section 2.3: Using the IMS SPI Motor InterfaceSection 2.4: Using User-DefinedSPI 2-12Appendices List Of FiguresPart 1: Hardware Specifications Part 2: Interfacing and ConfigurationAppendices List of TablesPart 1: Hardware Specifications Part 2: Interfacing and ConfigurationMDriveAC Plus Microstepping Connecting AC PowerConnect Opto Power and Logic Inputs GETTING STARTEDFigure GS.2: MDriveAC Plus CD Connecting Parameter Setup CableInstall the IMS SPI Motor Interface Motion Settings DialogInput Settings DialogPART HARDWARE SPECIFICATIONS Excellence in Motion TMmICROSTEPPING Relevant to Firmware Version Page Intentionally Left BlankIntroduction to the MDrive34AC Plus Microstepping ConfiguringFeatures and Benefits SECTION20 Microstep Resolutions up to I/O Specifications General SpecificationsElectrical Specifications Thermal SpecificationsDefault Setup ParametersMDriveAC Plus Microstepping Setup Parameters Motor SpecificationsControl Knob Mechanical SpecificationsDimensions in Inches mm ConnectorsThe following cordset is Pin Assignment and Descriptionavailable to interface to the 19-PinM23 Connector NEED A CABLE?Function Pin Assignment - P1 I/O, SPI and EncoderConnections Pin #Outside: Pins 1 Inside: Pins 13 -Options and Accessories Motor, Power Supply, and Drive Electronics Introduction to the MDrive42AC Plus MicrosteppingConfiguring Features and Benefits20 Microstep Resolutions up to Communications Specifications Electrical SpecificationsThermal Specifications I/O SpecificationsTable 1.4.1: Setup Parameters Setup ParametersMDriveAC Plus Microstepping Setup Parameters DefaultP1 P3 Mechanical SpecificationsDimensions in Inches mm ConnectorsThe following cordset is available to interface to the 19-PinM23 ConnectorPin Assignment and Description NEED A CABLE?Function Pin Assignment - P1 I/O, SPI and EncoderConnections Pin #Outside: Pins 1 Inside: Pins 13 -Pin Pin Pin Control Knob Options and AccessoriesParameter Setup Cable and Adapter Internal EncoderSection 2.4 Using User-DefinedSPI PART INTERFACING AND CONFIGURINGSection 2.2: Connecting SPI Communications Section 2.3: Using the IMS SPI Motor InterfaceRelevant to Firmware Version Page Intentionally Left BlankMD-CS10x-000Wire Color Reference Isolated Logic Input Pins and ConnectionsLogic Interface and Connection Optically Isolated Logic InputsQuadrature Isolated Logic Input CharacteristicsStep Clock DirectionFigure 2.1.3: Clock Input Timing Characteristics STEP/DIRECTION TIMINGQUADRATURE TIMING UP/DOWN CW/CCW TIMINGOptocoupler Reference Optocoupler ReferenceMDriveACPlus MicrosteppingInput Connection Examples NPN Open Collector Interface SinkingMDriveACPlus Microstepping PNP Open Collector Interface SourcingSwitch Interface Example Switch Interface SinkingSwitch Interface Sourcing Fault Temperature Warning OutputMinimum Required Connections Figure 2.1.7: Fault Output interfaced to an LEDFigure 2.1.8 Minimum Required Connections +5 VDC Output Connecting SPI CommunicationsConnecting the SPI Interface SPI Signal Overview2-11 SPI Pins and ConnectionsMDriveACPlus Microstepping #1 MDriveACPlus Microstepping #2MDriveAC Plus Microstepping Setup Parameters Using the IMS SPI Motor Interface InstallationConfiguration Parameters and Ranges Color Coded Parameter ValuesPerform File Operation View Settings ScreenIMS SPI Motor Interface Menu Options File2-14 UpgradeRecall HelpMSEL Microstep Resolution Selection 1.MSEL: Microstep Resolution SelectHCDT Hold Current Delay Time Connected/Disconnected IndicatorFactory ExitInput Clock Type Screen 2 I/O Settings Configuration ScreenInput Clock Filter Settings Enable Active High/LowFault Indication IMS Part Number/Serial Number ScreenMDriveAC Plus Microstepping Fault Codes The IMS SPI Upgrader Screen Upgrade Instructions2.Serial Number: the serial number of your unit Initialization Screen Communications Port OperationsPort Menu SECTION Using User-DefinedSPISPI Timing Notes Check Sum Calculation for SPIRelevant to Firmware Version SPI Commands and Parameters2-22 Table 2.4.1: SPI Commands and ParametersREAD WriteSPI Communications Sequence Relevant to Firmware Version Page Intentionally Left BlankAppendix D: Interfacing an Encoder APPENDICESAppendix B: Gear Boxes Appendix C: Optional Cables and CordsetsPage MDrive34AC – 120VAC Motor SpecificationsMDriveAC Plus Microstepping Motor Performance MDrive34AC Plus MicrosteppingMDrive42AC – 120VAC Double LengthTriple Length MDrive42AC Plus Microstepping1147 oz-in/810 N-cm Motor SpecificationsSingle Length Double LengthProduct Overview APPENDIX BMDrive with Planetary Gearbox Section OverviewExample Calculating the Shock Load Output Torque TABFigure B.1: MDrive23 Torque-SpeedCurve Table B.1: Planetary Gearbox Operating Factor Weight of A-11 Conveyor BeltA-12 A-13 PM81 Gearbox Ratios and Part Numbers Planetary Gearbox for MDrive34AC Plus2A-14 MDrive34AC Plus2 Planetary Gearbox ParametersPlanetary Gearbox for MDrive42AC Plus2 A-15PM105 Gearbox Ratios and Part Numbers PM120 Gearbox Ratios and Part Numbers A-16Optional Cables and Cordsets MD-CC300-000 USB to SPI Parameter Setup CableInstallation Procedure for the MX-CC300-000 APPENDIX CA-18 Determining the Virtual COM Port VCP A-19A-20 AdapterFunction MD-CS10x-000CordsetPin Assignment and Wire Colors P1 - Expanded I/O ConfigurationMD-CS200-000 MD-CS20x-000CordsetTable C.2: Euro AC Wire Color Chart 3-PinEuro AC ConnectorFactory Mounted Encoder Pin ConfigurationAPPENDIX D MDriveAC Plus MicrosteppingA-24 Encoder SignalsMDrive34Plus Linear Slide FeaturesAPPENDIX E Linear Slide OptionScrew A-26Specifications Mechanical SpecificationsTWENTY-FOUR24 MONTH LIMITED WARRANTY OBTAINING WARRANTY SERVICEWARRANTY Excellence in Motion intelligent motion systems, INC