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Part 2: Interfacing and Configuring
WA
RNTEMP
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
FF
FF
FF
FF
FF
FF
10
4D
00
49
4D
53
19
05
00
00
01
F4
00
00
50 01
XX
500
00
00
00
FAULT
EN_ACT
RESPONSE (MISO):
WRITE (MOSI):
READ ALL CMD
CHECKSUM CALCULATION
80+49+4D+53+19+05+00+00+01+F4+00+00+50+01=CD
BINARY = 1100 1101
1'S COMPLEMENT = 0011 0010
2'S COMPLEMENT = 0011 0011
DEC = 51
HEX = 33
MRC
MHC
MSEL
DIR_OVRID
HCDT_HI
HCDT_LO
CLKTYP
CLKIOF
WA
RNTEMP
EN_ACT
CKSUM
0
0
80
00
51
80
F4
00
01
00
01
50
33
XX
FF
FF
FF
FF
FF
FF
FF
FF
FF
FF
FF
FF
FF
FF
500
00
25
5
256
0
19
USR_ID1
USR_ID2
USR_ID3
I
M
S
49
4D
53
05 00
RESPONSE (MISO):
WRITE (MOSI):
WRITE ALL CMD
Figure 2.4.2: Read/Write Byte Order for Parameter Settings (Default Parameters Shown)
SPI Communications Sequence
See Timing Diagram and Byte Order figures.
READ
1. Send READ ALL Command 0x40 down MOSI to MDriveAC Plus Microstepping followed by
FF (15 Bytes).
2. Receive Parameter settings from MISO MSB First (M-Device) and ending with LSB (Fault).
Write
1. Send WRITE ALL Command (0x80) down MOSI followed by Parameter Bytes beginning with MSB
(MRC) and ending with the LSB (Checksum of all parameter Bytes).
2. Response from MISO will be FF (10) Bytes.