Intelligent Motion Systems MDrive34AC manual Read, Write, SPI Communications Sequence

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SPI Communications Sequence

			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 Excellence in MotionTM 34 TM42TM OPERATING INSTRUCTIONSinaccuracies Low Voltage Installation InformationMDriveAC Plus Microstepping Revision R031808 Qualification of personnel Important informationIntended Use This page intentionally left blank Table Of Contents Part 1 Hardware SpecificationsPart 2 Interfacing and Configuration 1-13Section 2.3: Using the IMS SPI Motor Interface Section 2.4: Using User-DefinedSPI2-12 2-21List Of Figures Part 1: Hardware SpecificationsPart 2: Interfacing and Configuration AppendicesList of Tables Part 1: Hardware SpecificationsPart 2: Interfacing and Configuration AppendicesConnecting AC Power Connect Opto Power and Logic InputsGETTING STARTED MDriveAC Plus MicrosteppingConnecting Parameter Setup Cable Install the IMS SPI Motor InterfaceMotion Settings DialogInput Settings Dialog Figure GS.2: MDriveAC Plus CDExcellence in Motion TM PART HARDWARE SPECIFICATIONSmICROSTEPPING Page Intentionally Left Blank Relevant to Firmware VersionConfiguring Features and BenefitsSECTION Introduction to the MDrive34AC Plus Microstepping20 Microstep Resolutions up to General Specifications Electrical SpecificationsThermal Specifications I/O SpecificationsSetup Parameters MDriveAC Plus Microstepping Setup ParametersMotor Specifications DefaultMechanical Specifications Dimensions in Inches mmConnectors Control KnobPin Assignment and Description available to interface to the 19-PinM23 ConnectorNEED A CABLE? The following cordset isPin Assignment - P1 I/O, SPI and Encoder ConnectionsPin # FunctionInside: Pins 13 - Outside: Pins 1Options and Accessories Introduction to the MDrive42AC Plus Microstepping ConfiguringFeatures and Benefits Motor, Power Supply, and Drive Electronics20 Microstep Resolutions up to Electrical Specifications Thermal SpecificationsI/O Specifications Communications SpecificationsSetup Parameters MDriveAC Plus Microstepping Setup ParametersDefault Table 1.4.1: Setup ParametersMechanical Specifications Dimensions in Inches mmConnectors P1 P3available to interface to the 19-PinM23 Connector Pin Assignment and DescriptionNEED A CABLE? The following cordset isPin Assignment - P1 I/O, SPI and Encoder ConnectionsPin # FunctionInside: Pins 13 - Outside: Pins 1Pin Pin Pin Options and Accessories Parameter Setup Cable and AdapterInternal Encoder Control KnobPART INTERFACING AND CONFIGURING Section 2.2: Connecting SPI CommunicationsSection 2.3: Using the IMS SPI Motor Interface Section 2.4 Using User-DefinedSPIPage Intentionally Left Blank Relevant to Firmware VersionIsolated Logic Input Pins and Connections Logic Interface and ConnectionOptically Isolated Logic Inputs MD-CS10x-000Wire Color ReferenceIsolated Logic Input Characteristics Step ClockDirection QuadratureSTEP/DIRECTION TIMING QUADRATURE TIMINGUP/DOWN CW/CCW TIMING Figure 2.1.3: Clock Input Timing CharacteristicsOptocoupler Reference MDriveACPlusMicrostepping Optocoupler ReferenceNPN Open Collector Interface Sinking MDriveACPlus MicrosteppingPNP Open Collector Interface Sourcing Input Connection ExamplesSwitch Interface Sinking Switch Interface SourcingFault Temperature Warning Output Switch Interface ExampleFigure 2.1.7: Fault Output interfaced to an LED Minimum Required ConnectionsFigure 2.1.8 Minimum Required Connections Connecting SPI Communications Connecting the SPI InterfaceSPI Signal Overview +5 VDC OutputSPI Pins and Connections MDriveACPlus Microstepping #1 MDriveACPlusMicrostepping #2 2-11Using the IMS SPI Motor Interface Installation Configuration Parameters and RangesColor Coded Parameter Values MDriveAC Plus Microstepping Setup ParametersView Settings Screen IMS SPI Motor Interface Menu OptionsFile Perform File OperationUpgrade RecallHelp 2-141.MSEL: Microstep Resolution Select MSEL Microstep Resolution SelectionConnected/Disconnected Indicator FactoryExit HCDT Hold Current Delay TimeScreen 2 I/O Settings Configuration Screen Input Clock Filter SettingsEnable Active High/Low Input Clock TypeIMS Part Number/Serial Number Screen Fault IndicationMDriveAC Plus Microstepping Fault Codes Upgrade Instructions The IMS SPI Upgrader Screen2.Serial Number: the serial number of your unit Communications Port Operations Initialization ScreenPort Menu Using User-DefinedSPI SPI Timing NotesCheck Sum Calculation for SPI SECTIONSPI Commands and Parameters 2-22Table 2.4.1: SPI Commands and Parameters Relevant to Firmware VersionWrite READSPI Communications Sequence Page Intentionally Left Blank Relevant to Firmware VersionAPPENDICES Appendix B: Gear BoxesAppendix C: Optional Cables and Cordsets Appendix D: Interfacing an EncoderPage Motor Specifications MDriveAC Plus Microstepping Motor PerformanceMDrive34AC Plus Microstepping MDrive34AC – 120VACDouble Length Triple LengthMDrive42AC Plus Microstepping MDrive42AC – 120VACMotor Specifications Single LengthDouble Length 1147 oz-in/810 N-cmAPPENDIX B MDrive with Planetary GearboxSection Overview Product OverviewCalculating the Shock Load Output Torque TAB ExampleFigure B.1: MDrive23 Torque-SpeedCurve Table B.1: Planetary Gearbox Operating Factor Weight of Conveyor Belt A-11A-12 A-13 Planetary Gearbox for MDrive34AC Plus2 A-14MDrive34AC Plus2 Planetary Gearbox Parameters PM81 Gearbox Ratios and Part NumbersA-15 Planetary Gearbox for MDrive42AC Plus2PM105 Gearbox Ratios and Part Numbers A-16 PM120 Gearbox Ratios and Part NumbersMD-CC300-000 USB to SPI Parameter Setup Cable Installation Procedure for the MX-CC300-000APPENDIX C Optional Cables and CordsetsA-18 A-19 Determining the Virtual COM Port VCPAdapter A-20MD-CS10x-000Cordset Pin Assignment and Wire ColorsP1 - Expanded I/O Configuration FunctionMD-CS20x-000Cordset Table C.2: Euro AC Wire Color Chart3-PinEuro AC Connector MD-CS200-000Pin Configuration APPENDIX DMDriveAC Plus Microstepping Factory Mounted EncoderEncoder Signals A-24Features APPENDIX ELinear Slide Option MDrive34Plus Linear SlideA-26 SpecificationsMechanical Specifications ScrewOBTAINING WARRANTY SERVICE TWENTY-FOUR24 MONTH LIMITED WARRANTYWARRANTY intelligent motion systems, INC Excellence in Motion