Intelligent Motion Systems MForce Series Microstepping PowerDrive 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 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 2.7.1: SPI Commands and Parameters
Part 2: Interfacing and Configuring	39