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S P I C o m m a n d s
CMD/PRM
READ ALL
SPI
Commands
WRITE ALL
Data READ
"u"
Version MSB
Version LSB
ACCL, MSB
ACCL, LSB
DB
RANGE
VI, MSB
VI, MB
VI, LSB
VM, MSB
VM, MB
VM, LSB
FULLSCALE, MSB
FULLSCALE, LSB
CENTER, MSB
CENTER, LSB
MRC
MHC
DCLT
MSEL
TYPE
INP_MODE ...
A1A2_PWM
MA_4_20
MA_0_20
DIR1
FAULT
ACCL, MSB
Data WRITE
ACCL, LSB
DB
RANGE
VI, MSB
VI, MB
VI, LSB
VM, MSB
VM, MB
VM, LSB
FULLSCALE, MSB
FULLSCALE, LSB
CENTER, MSB
CENTER, LSB
MRC
MHC
DCLT
MSEL
INP_MODE ...
A1A2_PWM
MA_4_20
MA_0_20
DIR1
CKSUM
Table 1.7.5: MDrive17&23 Speed Control SPI Command Summary
SPI COMMANDS AND PARAMETERS
HEX/DEFAULT
0X40
0X80
0x75
0x80
0x12
0x07
2000-65000
0xD0
0x01
0x03
0x00
0x01
1-100000
0x90
0x00
0x4E
1-100000
0x20
0x03
1-1023
0xFF
0x00
1-1022
0x00
0x19
1-100%
0x05
0x00
0x00
0, 2-250
0x01
1-Microstep
0x00
A1&A2, A1Volt, CW
0x01
0 = A1-A2, 1 = PWM
0x04
0 = A1Volts, 1 = A1Current
0x08
0 = 0-20mA, 1 = 4-20mA
0x40
0 = CW, 1 = CCW
0x00
0x07
2000-65000
0xD0
0x01
0x03
0x00
1-100000
0x01
0x90
0x00
0x4E
1-100000
0x20
0x03
1-1023
0xFF
0x00
0x00
0x19
1-100 %
0x05
0x00
0, 2-250
0x00
0x00
A1&A2, A1Volt, CW
0x01
0 = A1-A2, 1 = PWM
0x04
0 = A1Volts, 1 = A1Current
0x08
0 = 0-20mA, 1 = 4-20mA
0x40
0 = CW, 1 = CCW
0x5D
RANGE
Writes the hex value to the following parameters
Defines the SPI Version and revision number
0-255
1-8
Establishes the maximum velocity (highest speed)
of the controlled axis in steps per second
Establishes the maximum velocity (highest speed)
of the controlled axis in steps per second
Sets the deflection of the potentiometer or joystick
0-100%
0-1
Defined by the following parameters ...
0-255
1-8
Establishes the initial velocity (slowest speed) of the
Establishes the maximum velocity (highest speed) of
Sets the deflection of the potentiometer or joystick
1-1022
0-100 %
0-1
Defined by the following parameters ...
2s Complement of all WRITES including Command
NOTES
Reads the hex value of all parameters
"u" character precedes every read
i.e.; Version 1.2 Rev. 02
Acceleration in Steps/Sec
The default is 2000
Potentiometer/Joystick Deadband
VI/VM Range Setting
The default is 20000
Sets the center position of the joystick
The default is 0.0000
Motor Run Current - Default = 25
Motor Hold Current - Default = 5
Deceleration (On/Off) Default = 0
Microstep Resolution Default = 256
Fixed
A1 and A2 or PWM
Volts or Current
0 to 20 mA or 4 to 20 mA
Direction Override
(See Fault Table)
Acceleration in Steps/Sec
The default is 2000
Potentiometer/Joystick Deadband
VI/VM Range Setting
controlled axis in steps per second
The default is 800
the controlled axis in steps per second
The default is 20000
Sets the center position of the joystick
The default is 0.0000
Motor Run Current - Default = 25
Motor Hold Current - Default = 5
Deceleration (On/Off) Default = 0
Microstep Resolution Default = 256
A1 and A2 or PWM
Volts or Current
0 to 20 mA or 4 to 20 mA
Direction Override
2
2
59
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