TMC SIXPACK 2 TRINAMIC, TMC SIXPACK 2 Datasheet - Page 20

• 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

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SIXpack 2 – manual (V1.01 / May 5
, 2006) 20
6 Full Functionality
6.1 Inputs and Outputs
6.1.1 RS232 or RS485 interface
The RS 485 interface is a bi-directional 2-wire interface and can handle up to 255 slave devices in half-
duplex mode. The RS 232 interface can be used accordingly, however it is not possible to connect
multiple transmitters to the receiver input. The baud-rate is pre-configured to 19200 baud. It can be
changed via command.
Instructions consist of a 9 byte word, which in turn consist of the address of the unit, a command byte
and if required parameters with a length of up to 7 bytes.
Address
command
P0
P1
P2
P3
P4
P5
P6
The command word always has to be completely transmitted during a parameterized timeout
(s. CMD $41). It will be aborted and not interpreted, when a break-code is received. If errors occur the
interface can be newly synchronized via break-code.
The address of the unit can be set via rotary switches (scanned on reset).
During parameter read out an instruction will be transmitted only after an adjustable transmitter switch-
over time (s. CMD $40; pre-set to 6ms) has passed. This allows the transmitter to switch to receiving
mode. Ditto for the opposite direction: The PACK continues to drive the line for a pre-set time after
transmitting a message. The direction can be checked at the RTS-line of the RS 232-interface (negative
= SIXpack 2 is in sending mode). The CTS-line will be ignored.
When a valid command word is received, the status LED flashes.
6.1.2 CAN interface
The integrated CAN-Controller supports the full-CAN-specifications 2.0A with 11 address bits. Telegrams
with a fixed length of 8 bytes are used. The address of the unit (upper 8 address bits) can be set via
rotary switches (scanned on reset). The lower 3 address bits are fixed to “000“. Take care: According to
the CAN standard 0 is no valid address! Address range: $008 to $7F8 (in increments of 8).
After receiving the first valid instruction via CAN, control via RS 232 or RS 485 will be terminated. The
CAN response address is transferred to SIXpack 2 in a 8 bit format, like at RS 232 / 485. For responding
the address is shifted to the left by 3 bits, resulting in the same address range as defined above. If
continuous error conditions occur, CAN and RS 232 / 485 will be newly initialized.
For a table to configure the Baudrate refer to 5.2.3.
6.1.3 Ready output
The Ready output can be activated (low, open collector, with pullup to 4.3V internally), whenever a motor
is active (velocity above 0) or at reference search. The ready output will be switched within 2ms after
start/end of motor action. The repeatability (Jitter) matches approximately the micro step rate at start or
stop (see command SetVMinVStart, CMD $13, SQPack-Tab „Velocity & Acceleration”).
6.1.4 Multifunctional connector “RS232”
The 10 pin connector “RS232” next to the motor connectors offers divers inputs and outputs for
additional functions of the SIXpack 2.