27961 Parallax Inc, 27961 Datasheet - Page 17

• 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
4.18 READ_FIRMWARE Command
The controller portion of the MMBe is electrically reprogrammable. If Solutions Cubed, LLC becomes
aware of bugs in the operating system, and can fix the bugs, we will. Any upgrades to the MMBe are
tracked through the firmware revision. When an upgrade occurs it is added to the “errata” sheet (error –
data sheet) along with the problem fixed. If problems are known, but cannot be fixed they are also added
to the errata sheet. If no errata sheet exists then no problems exist that we are aware of.
4.19 READ_PI Command
The MMBe now has two modes of SPDCON. The default mode increments or decrements the motor
SPEED to make the actual frequency equal to the desired frequency. The new PI mode runs the error in
motor speed through a PI filter. When tuned correctly the PI filter should be more responsive to motor
load changes. This command reads the user adjustable PI variables from the MMBe.
4.20 WRITE_PI Command
The MMBe now has two modes of SPDCON. The default mode increments or decrements the motor
SPEED to make the actual frequency equal to the desired frequency. The new PI mode runs the error in
motor speed through a PI filter. When tuned correctly the PI filter should be more responsive to motor
load changes. This command writes the user adjustable PI variables to the MMBe. This data is stored in
EEPROM and becomes the default power–on settings for the PI mode.
4.21 SPDCON_MODE Command
This command toggles between the two modes of SPDCON. The STATUS.PIMODE bit may be tested to
determine which mode you’re currently in. When this command is received the new setting is stored in
EEPROM and becomes the default mode. It is recommended that the 15.5Khz PWM setting be used
with PI mode.
Decimal
Send
Hex
Sync
0x55
85
Phone: [phone] - www.solutions-cubed.com
Decimal
Receive
Motor Control System - Solutions Cubed, LLC
Hex
Example READ_FIRMWARE command
Decimal
Decimal
Decimal
Send
Send
Send
Example of READ_PI Command
Hex
Hex
Hex
Example of READ_PI Command
Command
SPDCON_MODE Command
0x10
16
Receive
Decimal
PTerm
0x40
Hex
64
Sync
Sync
Sync
0x55
0x55
0x55
85
85
85
PTerm
Revision
0x80
128
ITerm
0x01
0x01
1
1
Command
Command
Command
0x0E
0x0F
0x11
14
15
17
PIScalar
0x0E
ITerm
14
0x01
1
PIScalar
0x0E
Solutions Cubed
14
Page 17