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Microstepping MForce PowerDrive Manual Revision R032008

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/

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

0x01

0=Low

1=High,

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

Table 2.7.1: SPI Commands and Parameters

Содержание MFM Motion Detector

Страница 1: ...Operating Instructions TM Excellence in Motion TM FORCE POWER DRIVE MICROSTEPPING...

Страница 2: ...upport or aircraft applications wherein a failure or malfunction of the product may directly threaten life or injury Per Intelligent Motion Systems Inc s terms and conditions of sales the user of Inte...

Страница 3: ...erved when working on the drive system Intended Use The drive systems described here are products for general use that conform to the state of the art in technology and are designed to prevent any dan...

Страница 4: ...This page intentionally left blank...

Страница 5: ...ring 5 Rules of Shielding 5 Recommended Wiring 5 Recommended Mating Connectors and Pins 5 Section 2 2 Interfacing DC Power 7 Choosing a Power Supply for Your MForce PowerDrive 7 DC Power Supply Recomm...

Страница 6: ...s Configuration Screen 34 Input Clock Type 34 Input Clock Filter 34 Enable Active High Low 34 Warning Temperature 34 IMS Part Number Serial Number Screen 35 Fault Indication 35 Upgrading the Firmware...

Страница 7: ...Input Timing Characteristics 21 Figure 2 4 4 Optocoupler Input Circuit Diagram 22 Figure 2 4 5 Open Collector Interface Example 23 Figure 2 4 6 Switch Interface Example 24 Figure 2 4 7 Minimum Requir...

Страница 8: ...le 2 6 4 Input Clock Filter Settings 34 Table 2 6 5 Microstepping MForce PowerDrive Fault Codes 35 Table 2 6 6 PWM Mask Settings 38 Table 2 6 7 Typical PWM Mask Settings 39 Table 2 6 8 Maximum and Ini...

Страница 9: ...e following examples will help you get a motor turning for the first time and introduce you to the basic settings of the drive Tools and Equipment Required Microstepping MForce PowerDrive Unit MFM A N...

Страница 10: ...sinking or sourcing If Sinking Inputs are desired connect the Opto reference to a 5 to 24 VDC Supply If Sourcing Outputs are desired the Opto Reference needs to be connected to the Controller Ground C...

Страница 11: ...dware Specifications Section 1 1 Introduction to the Microstepping MForce PowerDrive Section 1 2 Microstepping MForce PowerDrive Detailed Specifications Part 1 Hardware Reference TM FORCE POWER DRIVE...

Страница 12: ...1 4 Microstepping MForce PowerDrive Manual Revision R032008 Page Intentionally Left Blank...

Страница 13: ...s These settings may be changed on the fly or downloaded and stored in nonvolatile memory with the use of a simple GUI which is provided This eliminates the need for external switches or resistors Par...

Страница 14: ...grees Metric Arc Minutes Optically Isolated Logic Inputs will Accept 5 to 24 VDC Signals Sourcing or Sinking Automatic Current Reduction Configurable Motor Run Hold Current Motor Direction vs Directio...

Страница 15: ...ck Direction and Enable Resolution 10 Bit Voltage Range Sourcing or Sinking 5 to 24 VDC Current 5 VDC Max 8 7 mA Current 24 VDC Max 14 6 mA Table 1 2 3 I O Specifications Communications Specifications...

Страница 16: ...ID User ID Customizable 1 3 characters IMS WARN TEMP Warning Temperature 0 to 125 C 80 EN ACT Enable Active High Low High or Low High PWM MSK PWM Mask 0 to 255 102 PWM PER PWM Duty Cycle 0 to 95 Perce...

Страница 17: ...Output Supply voltage for the MD CC300 000 Cable ONLY Pin 8 SPI Clock The Clock is driven by the SPI Master The clock cycles once for each data bit Pin 9 GND Communications Ground Pin 10 MISO Master...

Страница 18: ...e B Phase B Motor Return Recommended Cable PD04 MF34 FL3 Table 1 2 9 P4 Connecter P4 Connector Motor P4 12 10 8 6 4 2 11 9 7 5 3 1 1 1 2 2 3 4 Figure 1 2 4 P4 4 Pin Locking Wire Crimp Pin Configuratio...

Страница 19: ...ble locking wire crimp connector is used at P1 adapter MD ADP 1723C is required to use the MD CC300 000 USB to SPI MD CC300 000 Prototype Development Cable To speed prototype development these cables...

Страница 20: ...1 12 Microstepping MForce PowerDrive Manual Revision R032008 Page Intentionally Left Blank...

Страница 21: ...onnection Recommendations Section 2 2 Logic Interface and Connection Section 2 3 Connecting SPI Communications Section 2 4 Using the IMS SPI Motor Interface Section 2 5 Using User Defined SPI Part 2 I...

Страница 22: ...Microstepping MForce PowerDrive Manual Revision R032008 Page Intentionally Left Blank...

Страница 23: ...The diagrams in Figures 2 1 1 and 2 1 2 illustrate the mounting methods Figure 2 1 1 Base Mounting the MForce PowerDrive 4 x 6 32 Screw 4 x 6 Split Lockwasher 4 x 6 Flat Washer Mounting Hardware 4 x M...

Страница 24: ...chance of EMI induced noise The shield needs to be grounded at the signal source to earth The other end of the shield must not be tied to anything but allowed to float This allows the shield to act a...

Страница 25: ...nd rod at the critical location The shield must be connected so that shield currents drain to signal earth connections The number of separate shields required in a system is equal to the number of ind...

Страница 26: ...Microstepping MForce PowerDrive Manual Revision R032008 Page Intentionally Left Blank...

Страница 27: ...and out of each phase reservoir While one phase is in the decaying stage of the variable chopping oscillator the other phase is in the charging stage this results in a less than expected current draw...

Страница 28: ...VAC Versions 204 264 VAC Output All Measurements were taken at 25 C 120 VAC 60 Hz No Load Output Voltage 76 VDC 0 Amps Half Load Output 65 VDC 2 Amps Full Load output 58 VDC 4 Amps IP806 Unregulated L...

Страница 29: ...configuration for DC power supply cabling under 50 feet long If cabling of 50 feet or longer is required the additional length may be gained by adding an AC power supply cable see Examples B C Correct...

Страница 30: ...e Full Wave Bridge Example B AC Power to Full Wave Bridge Cabling Over 50 Feet Shield to Earth Ground on Supply End Only P Type RFI Filter r Required Current 120 or 240 VAC Dependent on Power Supply P...

Страница 31: ...ision motion accurate to within 3 percent Hybrid stepping motors are available with step angles varying from 0 45 to 15 with 1 8 being the most com monly used Torque capacity in hybrid steppers ranges...

Страница 32: ...enerate more torque per frame size while ensuring more precise positioning and increased accuracy The special design allows the motors to provide higher torque than standard stepping motors while main...

Страница 33: ...can be field retrofitted There is no need to throw the motor away due to wear of the nut or screw The IOS motors offer the following features The shaft face diameter offers a wide choice of threaded h...

Страница 34: ...ue at lower speeds is required Because this configuration has the most inductance the performance will start to degrade at higher speeds Use the per phase or unipolar current rating as the peak output...

Страница 35: ...he torque output will be more stable at higher speeds This configuration is also referred to as half copper In setting the driver output current multiply the specified per phase or unipo lar current r...

Страница 36: ...on and poor system performance Cable length wire gauge and power conditioning devices play a major role in the performance of your MForce PowerDrive and Stepper Motor NOTE The length of the DC power s...

Страница 37: ...mmended Motor Cable AWG Sizes MForce PowerDrive Recommended Motor Cable AWG 1 Amperes Peak 5 Amperes Peak Length Feet 10 25 50 75 100 Length Feet 10 25 50 75 100 Minimum AWG 20 20 18 18 16 Minimum AWG...

Страница 38: ...18 Microstepping MForce PowerDrive Manual Revision R032008...

Страница 39: ...tepping MForce PowerDrive Isolated Logic Input Pins and Connections The following diagram illustrates the pins and connections for the Microstepping MForce PowerDrive family of products Careful attent...

Страница 40: ...re included with the Microstepping MForce PowerDrive Quadrature The Quadrature clock function would typically be used for following applications where the Microstepping MForce PowerDrive would be slav...

Страница 41: ...g Characteristics Clock Input Timing Symbol Parameter Type and Value Step Direction Step Up Down Quadrature Units TDSU T Direction Set Up 50 nS min TDH T Direction Hold 100 nS min TSH T Step High 100...

Страница 42: ...o be configured as sinking or sourcing Optocoupler Reference Input Type Optocoupler Reference Connection Sinking 5 to 24 VDC Sourcing Controller Ground Table 2 4 2 Optocoupler Reference Connection NOT...

Страница 43: ...tocoupler Reference Input Controller Output Controller Ground NPN Open Collector Interface Sinking PNP Open Collector Interface Sourcing Microstepping MForce PowerDrive Input Connection Examples The f...

Страница 44: ...tch Interface Sinking Switch Interface Sourcing 5 to 24VDC Optocoupler Reference Enable Input SPST Switch GND Enable Input 5 to 24VDC Optocoupler Reference GND SPST Switch Enable Input Microstepping M...

Страница 45: ...nd Specification Tables for the Microstepping MForce PowerDrive connector option you are using Figure 2 4 7 Minimum Required Connections P4 P3 P1 12 Pin Wire Crimp at P1 Shown See Specifications for P...

Страница 46: ...nt Cables SPI Signal Overview 5 VDC Output This output is a voltage supply for the setup cable only It is not designed to power any external devices SPI Clock The Clock is driven by the Master and reg...

Страница 47: ...r cable and are using a laptop computer with 3 3 V output parallel ports U1 A U1 B U1 D U1 C HCT125 HCT125 HCT125 HCT125 2 1 14 4 5 7 13 12 11 10 8 9 6 3 2 R1 100 5V R2 49 9 P2 8 CLK 5V P2 4 P2 7 P2 1...

Страница 48: ...masingleSPIMasterbywiringthesystem and programming the userinterfacetowritetomultiplechipselects Each MForce on the bus willhaveadedicatedchipselect OnlyonesystemMForcecanbecommunicatedwith Parameters...

Страница 49: ...tep Resolution 1 2 4 5 8 10 16 25 32 50 64 100 108 125 127 128 180 200 250 256 steps per full step 256 DIR Motor Direction Override 0 1 CW HCDT Hold Current Delay Time 0 or 2 65535 mSec 500 CLK TYPE C...

Страница 50: ...isplays the part and serial number Red Out of Range Value The Set Button will disable as the the Motor Interface will not allow an out of range value to be stored Blue New Value which has not yet been...

Страница 51: ...Help IMS Internet Tutorials Link to an IMS Web Site page containing Interactive flash tutorials About Opens the About IMS and IMS SPI Motor Interface Screen Recall Last Stored Parameter Settings Figur...

Страница 52: ...l yield 51 200 steps per revolution of the motor shaft See Table 2 3 2 for available Microstep Resolutions Microstep Resolution Settings Binary Step Resolution Settings Decimal Step Resolution Setting...

Страница 53: ...e Amps RMS 10 0 5 20 1 0 30 1 5 40 2 0 50 2 5 60 3 0 70 3 5 80 4 0 90 4 5 100 5 0 Table 2 6 3 Hold and Run Current Percentage Equivalents DIR Motor Direction The DIR Motor Direction parameter changes...

Страница 54: ...ull down of the IMS SPI Motor Interface The filter range is from 50 nS 10 MHz to 12 9 Sec 38 8 kHz Table 2 4 3 shows the filter settings Input Clock Filter Settings Min Pulse Cutoff Frequency 50 nS 10...

Страница 55: ...icate the type of fault The table below shows the error codes MForce34Plus Microstepping Fault Codes Binary Case Error Code Description Action To Clear None No Fault 4 CS SPI Checksum Error Error Disp...

Страница 56: ...ocess Upgrade Instructions Below are listed the upgrade instructions as they will appear in the message box of the IMS SPI Upgrader Note that some steps are not shown as they are accomplished internal...

Страница 57: ...vice Port Menu The Port Menu allows the user to select the COM Port that the device is connected to either a parallel LPT Port or a Hardware Serial or Virtual Serial Port via USB The Reconnect option...

Страница 58: ...circuitry to settle This range represents a 8 bit Hex value that specifies the Bridge Reverse Measure Time REVTM and the Minimum Bridge Forward On Time FORTM ranging from 600 nS to 3 4 S each see tabl...

Страница 59: ...is 95 PWM Frequency Range Parameter The PWM Frequency Parameter sets the initial and maximum frequencies for the PWM As with the MASK parameter the PWM Frequency is a two part 8 bit hex number which...

Страница 60: ...to prevent shoot through if a discrete FET bridge is in use The range is 0 to 350 nS with 50 nS resolution Each LSB is 50 nS The default setting for a bridge driver is 50 nS 0x1 Bit 0 ENABLE Bridge En...

Страница 61: ...cant bit first and MSB Most Significant Byte first 2 8 bit bytes 3 25 kHz SPI Clock SCK 4 Data In MOSI on rising clock 5 Data Out MISO on falling clock Check Sum Calculation for SPI The values in the...

Страница 62: ...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 CLK...

Страница 63: ...e from MISO will be FF 10 Bytes WARNTEMP CLKIOF CLKTYP HCDT_LO HCDT_HI DIR_OVRID MSEL MHC MRC USR_ID3 USR_ID2 USR_ID1 VERSION DEVICE 80 0 0 0 256 5 25 S M I 1 0 00 M FF FF FF 40 FF FF FF FF FF FF FF F...

Страница 64: ...44 Microstepping MForce PowerDrive Manual Revision R032008 Page Intentionally Left Blank...

Страница 65: ...A 1 Appendices TM Appendices Appendix A Optional Prototype Development Cables TM FORCE MICRO DRIVE MICROSTEPPING...

Страница 66: ...A 2 Microstepping MForce PowerDrive Manual Revision R032008 Page Intentionally Left Blank...

Страница 67: ...Cables Parameter Setup Cable and Adapters The optional 12 0 3 6m parameter setup cable part number MD CC300 000 facilitates communica tions wiring and is recommended with first order It connects from...

Страница 68: ...installation of two sets of drivers Drivers for the IMS USB to SPI Converter Hardware Drivers for the Virtual Communications Port VCP used to communicate to your IMS Product Therefore the Hardware Upd...

Страница 69: ...Figure A 7 9 The Driver Installation will proceed When the Completing the Found New Hardware Wizard dialog appears Click Finish Figure A 8 10 Upon finish the Welcome to the Hardware Update Wizard wil...

Страница 70: ...rminal is set up in order that IMS Terminal will know where to find and communicate with your IMS Product To locate the Virtual COM Port 1 Right Click the My Computer Icon and select Properties 2 Brow...

Страница 71: ...Connection Pin Number 1 1 White Blue Opto Reference 3 Blue White Step Clock 4 1 2 White Orange Enable 5 Orange White Direction 6 1 3 White Green SPI Clock 8 Green White COMM GND 9 1 4 White Brown 5VD...

Страница 72: ...02 3400 FL3 Prototype Development Cable PD04 MF34 FL3 The PD04 MF34FL3 is a 10 3 0 M Prototype Development Cable used to connect the MForce PowerDrive to a stepping motor Pair Number Cable Pair Color...

Страница 73: ...mply with all of the terms set forth in this Limited Warranty This Limited Warranty is the sole warranty offered by IMS with respect to the Product IMS does not assume any other liability in connectio...

Страница 74: ...nsworth East Fareham Hampshire PO15 5TT Phone 44 0 1489 889825 Fax 44 0 1489 889857 E mail mcheckley imshome com www imshome com Intelligent Motion Systems Inc All Rights Reserved REV032008 IMS Produc...

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