TMC SIXPACK 2 TRINAMIC, TMC SIXPACK 2 Datasheet - Page 26

• 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
6.2.2.4 Starting a two axis interpolated movement
Linear motions with multiple axes can be driven. For this, the destinations have to be set via CMD $26
and then the trapezoidal Ramp can be started via CMD $50. In the example the axis 1 is navigated to
position 10000 and in parallel the axis 2 to position 2000.
Pseudocode:
sendToPack(address);
sendToPack(0$26);
sendToPack(0);
sendToPack($E8);
sendToPack($03);
sendToPack($00);
sendToPack($00);
sendToPack(0);
sendToPack(0);
sendToPack(address);
sendToPack($26);
sendToPack(1);
sendToPack($D0);
sendToPack($07);
sendToPack($00);
sendToPack($00);
sendToPack(0);
sendToPack(0);
sendToPack(address);
sendToPack($50);
sendToPack($03);
sendToPack(0);
sendToPack(0);
sendToPack(0);
sendToPack(0);
sendToPack(0);
sendToPack(0);
th
// Motor 1
// 3*256=768
// fill 9 bytes
// fill 9 bytes
// Motor 2
// 7*256=1792
// fill 9 bytes
// fill 9 bytes
// Command for multi-axis Interpolation
// fill 9 bytes
// fill 9 bytes
// fill 9 bytes
// fill 9 bytes
// fill 9 bytes
// fill 9 bytes
// Address of the Sixpack2
// Command for setting the destination
// 232
// Address of the Sixpack2
// Command for setting the destination
// 208
// Address of the SIXpack2
// 0000 0011=3, e.g. Mask for motor 1 and 2
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