Intelligent Motion Systems MDriveAC - Manual (Page 49)

2-22 MDriveAC Plus Microstepping Hardware - Revision R121707
Relevant to Firmware Version 3.0.02
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/
Parameter
HEX
(Default)
Range Notes
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
*0=256
Microstep Resolution (See Table in Section
2.4 for settings)
DIR_OVRID 0x00
0=no override
1=override dir
Direction Override
HCDT_HI 0x01
0 or 2-65535
Hold Current Delay Time High Byte
HCDT_LO 0xF4 Hold Current Delay Time Low Byte
CLKTYP 0x00
0=s/d,
1=quad,
2=u/d
Input Clock Type
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
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
*0=256
Microstep Resolution (See Table in Section
2.4 for settings)
DIR_OVRID 0x00
0=no override
1=override dir
Direction Override
HCDT_HI 0x01
0 or 2-65535
Hold Current Delay Time High Byte
HCDT_LO 0xF4 Hold Current Delay Time Low Byte
CLKTYP 0x00
0=s/d,
1=quad,
2=u/d
Input Clock Type
CLKIOF 0x00 <0-9> Clock Input Filtering
WARNTEMP 0x50 OVER_TEMP - 5° C
EN_ACT 0x01
0=Low
1=High
Enable Active High/Low
LSB CKSUM 34
Table 2.4.1: SPI Commands and Parameters