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Intelligent Motion Systems MDrive34Plus manual Read, Write, SPI Communications Sequence

Models: MDrive34Plus

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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
01	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 1.0.00 VERSION

M DEVICE

WRITE ALL CMD

WRITE (MOSI):

RESPONSE (MISO):

80 XX

49 4D	53
FF FF	FF

19 FF

0500 FF 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 01 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 2.6.2: 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 MDrivePlus 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

2-37

Image 65

Intelligent Motion Systems MDrive34Plus manual Read, Write, SPI Communications Sequence

Contents

Integrated Motor and Driver MDrive34Plus MicrosteppingMDrive34Plus Microstepping Revision R071108 Intended Use Important informationQualification of personnel This page intentionally left blank Part 1 Hardware Specifications Table Of ContentsPart 2 Interfacing and Configuring Section 2.2 Interfacing DC PowerSection 2.4 Connecting SPI Communications AppendicesSection 2.5 Using the IMS SPI Motor Interface Section 2.6 Using User-DefinedSPIPart 1 Hardware Specifications List Of FiguresPart 2 Interfacing and Configuring Appendix E Linear Slide Option2-32 AppendicesPart 1 Hardware Specifications List of TablesPart 2 Interfacing and Configuring AppendicesThis Page Intentionally Left Blank Connect Opto Power and Logic Inputs Connecting the Power SupplyConnecting Parameter Setup Cable GETTING STARTEDMotion Settings DialogInput Settings Dialog Install the IMS SPI Motor InterfaceMICROSTEPPING PART HARDWARE SPECIFICATIONSRelevant to Firmware Version Page Intentionally Left BlankSECTION Features and BenefitsIntroduction to the MDrive34Plus Microstepping Configuration InterfaceMotor Run/Hold Current Electrical Specifications General SpecificationsEnvironmental Specifications I/O SpecificationsMDrive17Plus Microstepping Setup Parameters Setup ParametersMotor Specifications DefaultLMAX2 Option - Control Knob Mechanical SpecificationsLocking Wire Crimp Locking Wire Crimp with Internal Optical EncoderConnector Options Flying LeadsWire Color with Internal Encoder Pin Assignment - P1 Power and I/O ConnectionsFunction DescriptionWhite OptoRef Orange Step Clock Blue Direction MD-CC300-000 Recommended CableP2 Connector - SPI Communications Figure 1.2.6: P2 Connector - SPI CommunicationsPin Assignment - P1 Power, I/O and SPI 12-PinLocking Wire CrimpRecommended Cable PD12-1434-FL3P/N PD02-3400-FL3 1 P3P3 Connector - DC Power, 2-PinLocking Wire Crimp Pin Assignment - P3 PowerP/N PD10-3400-FL3 Recommended CableConnectivity Mating Connector KitsQuickStart Kit Communication ConvertersRelevant to Firmware Version Page Intentionally Left BlankSection 2.2 Interfacing DC Power PART INTERFACING AND CONFIGURINGSection 2.3 Using the IMS SPI Motor Interface Section 2.4 Using User-DefinedSPIRelevant to Firmware Version Page Intentionally Left BlankMounting Recommendations Mounting and Interface GuidelinesAllow Top Clearance for Wiring/Cabling SECTIONRules of Wiring Layout and Interface GuidelinesRules of Shielding Shielded CableRecommended Wiring Recommended Mating Connectors and Pins2-PinLocking Wire Crimp Power Power - P3P1 Logic Wiring P3 PowerLogic and Power Securing Power Leads and Logic LeadsSECTION Interfacing DC PowerChoosing a Power Supply for Your MDrive ISP300-7Unregulated Switching Supply DC Power Supply RecommendationsIP804 Unregulated Linear Supply IP806 Unregulated Linear SupplyConnecting DC Power Example A - Cabling Under 50 Feet, DC Power Recommended Power and Cable ConfigurationsTable 2.2.1 Recommended Wire Gauges MDrive34Plus Recommended Power Supply Cable AWGRelevant to Firmware Version Page Intentionally Left BlankIsolated Input Interface and Connection Isolated Logic Input Pins and ConnectionsOptically Isolated Logic Inputs SECTIOND A B C See Input ConfigurationInput Configuration 12-PinLocking Wire CrimpStep Clock Isolated Logic Input CharacteristicsDirection QuadratureQUADRATURE TIMING STEP/DIRECTION TIMINGUP/DOWN CW/CCW TIMING Figure 2.3.5 Clock Input Timing CharacteristicsOptocoupler Reference Optocoupler ReferenceMDrivePlus Microstepping NPN Open Collector Interface SinkingPNP Open Collector Interface Sourcing Input Connection ExamplesSwitch Interface Sourcing Switch Interface SinkingSwitch Interface Example GND + SPST SwitchMinimum Required Connections +MDrive34Plus MicrosteppingConnecting the SPI Interface Connecting SPI CommunicationsSPI Signal Overview +5 VDC OutputShifting SPI Pins and ConnectionsLogic 12-PinLocking Wire CrimpPart 2 Interfacing and Configuring Logic Level Shifting and Conditioning CircuitMDriveACPlus Microstepping #1 MDriveACPlus MDriveACPlus MicrosteppingMicrostepping #2 SPI Master MOSIMISOConfiguration Parameters and Ranges Using the IMS SPI Motor Interface InstallationColor Coded Parameter Values MDrivePlus Microstepping Setup ParametersIMS SPI Motor Interface Menu Options View Settings ScreenFile Perform File OperationRecall UpgradeHelp 2-27MSEL Microstep Resolution Selection 1.MSEL: Microstep Resolution SelectFactory Connected/Disconnected IndicatorExit HCDT Hold Current Delay TimeInput Clock Filter Settings Screen 2 I/O Settings Configuration ScreenEnable Active High/Low Warning TemperatureMDrive34Plus Microstepping Fault Codes Fault IndicationIMS Part Number/Serial Number Screen 2.Serial Number the serial number of your unit The IMS SPI Upgrader ScreenUpgrade Instructions Port Menu Initialization ScreenCommunications Port Operations Relevant to Firmware Version Page Intentionally Left BlankSPI Timing Notes Using User-DefinedSPICheck Sum Calculation for SPI SECTION2-36 SPI Commands and ParametersTable 2.6.1 SPI Commands and Parameters Relevant to Firmware VersionSPI Communications Sequence READWrite Relevant to Firmware Version Page Intentionally Left BlankAppendix B Planetary Gearboxes APPENDICESAppendix C Connectivity Appendix D Interfacing an EncoderRelevant to Firmware Version Speed-TorqueCurves APPENDIX AMDrive34Plus Microstepping Motor Performance Single Length Motor SpecificationsDouble Length Triple LengthPlanetary Gearboxes APPENDIX BSection Overview Product OverviewCalculating the Shock Load Output Torque TAB Figure B.1 MDrive34 Torque-SpeedCurve Table B.1 Planetary Gearbox Operating Factor Weight of A-10 Conveyor BeltA-11 A-12 A-13 Planetary Gearbox for MDrive34PlusMDrive34Plus Planetary Gearbox Parameters PM81 Gearbox Ratios and Part NumbersRelevant to Firmware Version A-14MD-CC300-001 APPENDIX CConnectivity Connector Details Connector Detail and Mating Connector KitMating Connector Kit p/n CK-01 A-16MD-CC303-001 A-17Connector Details Connector Detail and Mating Connector KitMating Connector Kit p/n CK-03 A-18A-19 Installation Procedure for the MD-CC30x-000Installing the Cable/VCP Drivers A-20 Determining the Virtual COM Port VCP A-21Tyco connector 12-pinwire crimpPrototype Development Cable PD12-1434-FL3 To MDrivePlus910 78 N/C IDX CH B- CH A GNDN/C +5VDC IDX+ CH B+ CH A+ Connector Detail and Mating Connector Kit2-pinwire crimp To PowerMolex connector Connector DetailsInterfacing an Encoder APPENDIX DFactory Mounted Internal Encoder General SpecificationsA-26 Encoder ConnectionsDifferental Encoder Flying Leads Single-EndEncoder Flying LeadsDifferential Encoder Encoder SignalsEncoder Cable Recommended Encoder Mating ConnectorsDifferential Encoder A-28APPENDIX E FeaturesLinear Slide Option MDrive34Plus Linear SlideSpecifications A-30Mechanical Specifications ScrewWARRANTY TWENTY-FOUR24 MONTH LIMITED WARRANTYOBTAINING WARRANTY SERVICE U.S.A. Sales offices Intelligent Motion Systems, IncIMS EUROPEAN SALES MANAGEMENT IMS ASIA PACIFIC OFFICE