MA600A daisy chain connection

Motor Drivers/Sensors
1

Hi,MPS,

Currently I`m applying MA600A for multiple joint of mechanical link.

And I know that MA600A support daisy-chain connection thourh two way.

  • One is modifying DAISY bit on 0x0A register (Software config, repeat after POR)
    • UR10 → 1, DAISY → 1,
  • The other one is save DAISY bit to NVM (no need to set again after POR)
    • UR10 →1, DAISY → 1, Write CMD with bank 0

The problem is,
If I connected all encoders as an singel SPI bus through Daisy-chain mode of method 2, is that non-reversible??

Since writing Block0 with DAISY → 1, it starts read only mode… and no response from sensor.

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  • Is there any way to recover daisy-chain bit of NVM to 0 through SW method?
    Without this, I cannot change any register values… (ex, calibration data, Offset or ect)

Please let me know any other way to solve the problem.