27961 Parallax Inc, 27961 Datasheet - Page 11

• Manufacturer Part Number: 27961
• Description: MODULE MOTOR MIND SIP
• Manufacturer: Parallax Inc

Specifications of 27961

• Product: Microcontroller Accessories
• Operating Supply Voltage: 6 to 36 V
• Board Size: 30.48 mm x 25.4 mm
• Lead Free Status / RoHS Status: Lead free / RoHS Compliant

Motor Mind B enhanced
Data Sheet
4.2 Response to Commands
Many of the commands available in the MMBe do not automatically elicit responses. But in motor control
applications it is often desirable to have some feedback to ensure that the commands have been
received. For this reason a confirmation response has been built into the MMBe (and earlier versions).
Setting the highest bit of any command byte will cause the MMBe to respond first with a confirmation, and
then with any response built into the command itself. For example the command byte for SETDC is
decimal 3 (0x03), sending a command byte of 131 (0x83) will cause the confirmation byte to be returned.
A confirmation byte is a decimal 170 (0xAA).
examples. Responses to commands will typically occur within 500us-1000us of sending the data. There
are three exceptions to this rule. First, commands that include the option of a GATETIME value (TACH
and SPDCON) may take as long as 5ms to respond.
(WRITE_PI for example) may take 10ms-40ms to respond, although the actual time required should be
much less than that. Finally, the COUNT command will respond with the STATUS and SPEED values
after the count is complete.
4.3 Command Summary
The following table summarizes the commands available in the MMBe. Please note that the confirmation
byte (CONF) and GATETIME are optional. Regarding the confirmation byte, it will only be returned if the
highest bit of the command byte is set. The GATETIME may be sent with the TACH and SPDCON
commands but no longer has an effect on tachometer measurements.
STOP
REV
TACH
SETDC
SPDCON
STATUS
COUNT
EXIT_COUNT**
SETDC_DIR**
WRITE_EEPROM**
READ_EEPROM**
READ_COUNTER**
CHANGE_BAUD**
CHANGE_FREQ**
READ_FIRMWARE**
READ_PI**
WRITE_PI**
SPDCON_MODE**
SPDCON_FREQ**
READ_FREQCAL**
WRITE_FREQCAL**
*Optional GATETIME data or optional CONF response
**New command not available on earlier MMB versions
4.4 STOP Command
The STOP command will stop the motor. Stopping the motor may also be implemented by sending a
SETDC or SETDC_DIR command with a SPEED of 0.
Command
0 (0x00)
1 (0x01)
2 (0x02)
3 (0x03)
4 (0x04)
5 (0x05)
6 (0x06)
7 (0x07)
8 (0x08)
9 (0x09)
10 (0x0A)
11 (0x0B)
12 (0x0C)
13 (0x0D)
14 (0x0E)
15 (0x0F)
16 (0x10)
17 (0x11)
18 (0x12)
19 (0x13)
20 (0x14)
Command Byte
decimal (hex)
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Decimal
Send
GATETIME*
SPEED
FREQHI, FREQLO, GATETIME*
COUNTHI, COUNTLO
SPEED (2’s compliment)
ADDRESS, DATA
ADDRESS
PTERM, ITERM, PISCALAR
FREQCAL
Hex
Example of STOP Command
( * denotes optional)
Additional Byte(s)
Sync
0x55
85
Confirmation bytes are not shown in the following
Second, commands that write to EEPROM
Command
0x00
0
CONF*
CONF*
CONF*
CONF*
CONF*
CONF*, STATUS, SPEED
CONF*, STATUS, SPEED
CONF*
CONF*
CONF*
CONF*, DATA
CONF*, COUNTHI, COUNTLO
CONF*
CONF*
CONF*, FIRMWARE REV
CONF*, PTERM, ITERM, PISCALAR
CONF*
CONF*
CONF*
CONF*, FREQCAL
CONF*
( * denotes optional)
Response
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Page 11
Writes to
EEPROM
YES
YES
YES
YES
YES
YES
NO
NO
NO
NO
NO
NO
NO
NO
NO
NO
NO
NO
NO
NO
NO