2-22
MDriveAC Plus Microstepping Hardware - Revision R031808
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
