TMC SIXPACK 2 TRINAMIC, TMC SIXPACK 2 Datasheet - Page 27

• 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
6.3 Adjusting SIXpack 2 to motors micro step characteristics
6.3.1 Calculation of micro step frequency
The SIXpack 2 operates with a fixed micro step frequency of 16 micro steps every full step. The
programming positions are specified in micro steps in relation to zero. Following formula calculates the
given motors micro steps for a whole rotation:
The full step angle is specified in the motors datasheet.
The absolute micro step frequency, the number of steps per second, in relation of the motors actual
velocity settings is described with following formula:
Note: The micro step frequency must not exceed 200 kHz.
6.3.1.1 Example
The starting position (get with GetPositionAndActivity, CMD $20, set with SetActualPosition, CMD $27)
is zero, target position is 116666 (refer to command StartRamp, CMD $23).
Actual full step frequency (f
VAkt for accelerations is:
This formula is not valid for decelerations. To realize the actual function the SIXpack 2 decelerates more
slowly than it accelerates.
Parameter:
ClockDivider = 5,
Div = 2,
VStart = 16,
VMax = 128,
AMax = 5
•
•
•
•
•
Full step frequency = 1/16micro step frequency
f
Clkdiv (ClockDivider, $12, SQPack-Tab “Velocity & Acceleration”) is the same for all motors
(value range 0…31)
v
div
0…3)
clk
f
i
micro
respectively vakt is the velocity of each motor (range: –511..+511)
i
is 20MHz
(Div, SQPack-Tab “Velocity & Acceleration”) can be parameterized for each motor (range
−
Number of micro steps / rotation = 360° / Full step angle * 16
VAkt =
step
=
clkdiv
VStart
f
clk
+
full-step
1
+
⋅
v
AMax/64
i
) is calculated with given formula for f
t /
2
th
14
2
, 2006) 27
ms
+
div
i
micro-step
by multiplication with 16.