TMC SIXPACK 2 TRINAMIC, TMC SIXPACK 2 Datasheet - Page 18

• Manufacturer Part Number: TMC SIXPACK 2
• Description: CONTROLLER, STEPPER MOTOR, AMPLIF
• Manufacturer: TRINAMIC

Specifications of TMC SIXPACK 2

• Supply Voltage Range: 15Vdc To 48Vdc
• No. Of Phases: Two
• Output Current: 1.4A
• Approval Bodies: CE
• Current Limit Max: 1.4A
• Current Limit Min: 300mA
• External Depth: 35mm
• External Length / Height: 180mm
• Svhc: No SVHC (15-Dec-2010)
• Rohs Compliant: Yes
• Lead Free Status / RoHS Status: Lead free / RoHS Compliant

SIXpack 2 – manual (V1.01 / May 5
5.5.3.2 Linear Axis, mechanical reference point
Important parameters for configurations are:
The value range of the axis is specified in Poslimit. The SIXpack 2 evaluates with this value the length
of the reference search (5/4 * Poslimit). MT_NULLLEFT defines the direction of the reference stopper.
It is on the left side of the axis for NullLeft = 1.
For Poslimit = 10000 the produced dataset by SQPack is:
The reference search is started with command StartReferenceSearch (CMD $23), from the SQPack-tab
“Reference Search”. The dataset is as follows:
5.5.3.3 Linear Axis, reference switch at beginning of axis
The hardware configuration described above is the starting point. For the basic configuration only the
variables Poslimit, MT_NULLLEFT and MT_NULLPOSITIVE are relevant. MT_NULLLEFT and
MT_NULLPOSITIVE are set to 1. The resulting dataset evaluated by SQPack for an axis of the length of
Poslimit = 33333 is:
Start of reference search as described in 5.5.3.3.
5.5.3.4 Linear axis, combined end/reference switch left, end switch right
Starting point is the same. Additionally to Poslimit, the Flags MT_NULLLEFT and MT_STOPNULL
have to be set. The resulting dataset for Poslimit = 500000 is:
Start of reference search as described in 5.5.3.3.
5.6 Basic configurations for operation
5.6.1 Adjusting motor current
Additionally to the possibility to adjust the maximum motor current manually by the DIP switches (refer to
5.2.7) there are different ways to adjust the motor current to the demands of the system with the
software.
The maximum current for the motors has to be determined. You can find it in the motors datasheet.
Commonly the producer provides the current for a full step. This means for the SIXpack 2 that a current
of 1.4 times the peak current is possible. The command PeakCurrent (CMD $10, SQPack-tab „Current“)
configures the maximum current.
CAUTION: The maximum current is always compound for two motors. The current counts for motor n
and also for motor n+1 !!!
Additionally to the motor number a value, functioning as divider for the maximum current of the
SIXpack 2 is transmitted. Value range is 0…255.
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SendToPack($00, $15, $00, $10, $27, $00, $00, $10, $04).
SendToPack($00, $22, $00, $00, $00, $00, $00, $00, $00).
SendToPack($00, $15, $00, $20, $A1, $07, $00, $10, $40).
SendToPack($00, $15, $00, $20, $A1, $07, $00, $50, $40).
variable Poslimit,
Flag MT_NULLLEFT,
Flag MT_MECHREF.
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