TMC SIXPACK 2 TRINAMIC, TMC SIXPACK 2 Datasheet - Page 24

• 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
All other values are set to 0, i.e. the functions are disabled.
6.2.2 Examples
Attention: All 9 Bytes must be sent to the interface, otherwise the SIXpack 2 does not recognize the
command and waits for the missing bytes.
$ indicates that the value is in hexadecimal notation!
6.2.2.1 Setting motor parameters
CMD $15 contains information about the motor and settings for the reference drive.
For more details see Hints for Programming and CMD $15 in the Instruction set!
Pseudocode:
SendToPack(address);
SendToPack($15);
SendToPack(P0);
SendToPack(P1);
SendToPack(P2);
SendToPack(P3);
SendToPack(P4);
SendToPack(P5);
SendToPack(P6);
Bit 7
I3=100%;
motortype= Delayedtest0 | NullCenter | Filterswitch | FastRef;
De-bounce mask=$0FFF;
Readymask=$3F;
Refer.-Readymask=$3F;
propdiv=8;
intdiv=129;
intclip=129;
intinpclip=1;
MotorNr.1
(0...5)
Bit 0
NOTE: P5, Bit1=0 -> linear motor -> poslimit=whole intended driving range
( = 90 hex
= 144 dez)
LSB
-> poslimit = 00000190 hex ( = 400 decimal)
// power accelerat. motors with 400 mA
// v = position-difference / 8
// v += pos-difference integral / 129
// clip pos-difference integrals > 129
( = 1 hex
3rdSB
= 1 dez )
th
// Filter delay 12-1 cycles = 22 ms
// check any active motor
// check any referencing motor
// integrate pos-difference of max. 1
// Address of the Pack(Sixpack2)
// Command in hexadecimal notation
// Motor number (0...5)
// poslimit LSB
// poslimit MSB
// further settings, for more information read the instruction set
, 2006) 24
2rdSB
MSB
FilterSwitch
StopNull
TestNull
( = C8 hex )
+ 64
+128
200
8
0 1 0 1 1 0 1 0
NullPositive
P6 = 90
StopSoft
DelayTestNull
FastRef
( = 5A hex )
+ 8
+16
+64
90
2