ii
Section 2.3: Using the IMS SPI Motor Interface ........................................................................2-12
Installation .............................................................................................................................. 2-12
Configuration Parameters and Ranges ..................................................................................... 2-12
Color Coded Parameter Values ................................................................................................ 2-12
IMS SPI Motor Interface Menu Options................................................................................. 2-13
Screen 1: The Motion Settings Configuration Screen .............................................................. 2-15
MSEL (Microstep Resolution Selection) ....................................................................... 2-15
HCDT (Hold Current Delay Time) ............................................................................. 2-16
MRC (Motor Run Current) .......................................................................................... 2-16
MHC (Motor Hold Current) ........................................................................................ 2-16
DIR (Motor Direction) ................................................................................................. 2-16
User ID ......................................................................................................................... 2-16
IMS SPI Motor Interface Button Functions .................................................................. 2-16
Screen 2: I/O Settings Configuration Screen ........................................................................... 2-17
Input Clock Type .......................................................................................................... 2-17
Input Clock Filter ......................................................................................................... 2-17
Enable Active High/Low ............................................................................................... 2-17
Warning Temperature ................................................................................................... 2-17
IMS Part Number/Serial Number Screen ................................................................................ 2-18
Fault Indication ....................................................................................................................... 2-18
Upgrading the Firmware in the MDriveAC Plus Microstepping .............................................. 2-19
The IMS SPI Upgrader Screen ...................................................................................... 2-19
Upgrade Instructions ..................................................................................................... 2-19
Initialization Screen ................................................................................................................. 2-20
Port Menu..................................................................................................................... 2-20
Section 2.4: Using User-Defined SPI .........................................................................................2-21
SPI Timing Notes .................................................................................................................... 2-21
Check Sum Calculation for SPI ............................................................................................... 2-21
SPI Commands and Parameters............................................................................................... 2-22
SPI Communications Sequence .................................................................................... 2-23
Appendices
Appendix A: MDriveAC Plus Microstepping Motor Performance ............................................... A-3
MDrive34AC Plus Microstepping .............................................................................................A-3
Speed-Torque Curves ......................................................................................................A-3
Motor Specifications .......................................................................................................A-3
MDrive42AC Plus Microstepping .............................................................................................A-4
Speed-Torque Curves ......................................................................................................A-4
Motor Specifications .......................................................................................................A-5
Appendix B: MDrive with Planetary Gearbox ........................................................................... A-6
Section Overview ......................................................................................................................A-6
Product Overview .....................................................................................................................A-6
Selecting a Planetary Gearbox....................................................................................................A-6
Calculating the Shock Load Output Torque (TAB) .........................................................A-7
System Inertia .........................................................................................................................A-10
Planetary Gearbox for MDrive34AC Plus2 .............................................................................A-14
PM81 Gearbox Ratios and Part Numbers .....................................................................A-14
Planetary Gearbox for MDrive42AC Plus2 .............................................................................A-15
PM105 Gearbox Ratios and Part Numbers ...................................................................A-15
PM120 Gearbox Ratios and Part Numbers ...................................................................A-16
Appendix C: Optional Cables and Cordsets .............................................................................. A-17
MD-CC300-000: USB to SPI Parameter Setup Cable ............................................................A-17
Installation Procedure for the MX-CC300-000 .......................................................................A-17
Installing the Cable/VCP Drivers ..................................................................................A-17
Determining the Virtual COM Port (VCP) ..................................................................A-19
Adapter ...................................................................................................................................A-20
MD-CS10x-000 Cordset .........................................................................................................A-21
Pin Assignment and Wire Colors ..................................................................................A-21
MD-CS20x-000 Cordset .........................................................................................................A-22
