TMC SIXPACK 2 TRINAMIC, TMC SIXPACK 2 Datasheet - Page 29

• 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) 29
6.4.4 Automatic reference search
The SIXpack 2 provides the possibility to start an automatic reference search at identified lost of steps.
To activate this function set the Flag MT_TESTNULL (command SetMotorParameters, CMD $15). The
intern position counter will be compared with the status of the reference switch. If the reference switch
reacts at wrong position or does not react at internally logic position, a reference search is started and
the flag STOPFLAG (command GetPositionAndActivity, CMD $20) set.
6.4.5 Adjusting activity zone of reference switch
Mechanical inaccuracy may lead to reaction of the reference switch a few steps too early or too late. If
an automatic reference search (MT_TESTNULL) is used this may start unintended reference searches.
It is possible to define a zone around the zero-point in which the status of the reference switch is not
checked using the commands SetNullPointOffset, (CMD $18) variable TestNullRange.
Figure 6.3: Coordinate transformation using „NullPointOffset“
6.4.6 Compensation of reference switch delay
At use of mechanic reference switches the problem of a delay time problem between mechanic and
electronic status change occurs often. To avoid dysfunction it is possible to delay the request of the
reference switch signal with PowerDownDelay. It is set and used in SetCurrentControl, CMD $11.
MT_DELAYTESTNULL is set and PowerDownDelay is 500 in basic configuration.
NOTE: PowerDownDelay is used for “power down”- delay (command SetCurrentControl, CMD $11),
also.
6.4.7 Elimination of glitches
In standard configuration the input signal at Refln is debounced for 22 ms. The change of levels has to
be constant in this time to be interpreted. This value is set with variable DebouncingTime (command
SetRefSearchParameters, CMD $16).
6.4.8 Adjusting reference search velocity
Fast reference search is activated in standard configuration (Flag MT_FASTREF of command
SetMotorParameters, CMD $15). At this configuration the axis is moved at reference search with the
velocity set in variable VRefMax (default VrefMax=100).
CAUTION: If MT_FASTREF is used the length of the axis has to be defined in the variable Poslimit.
Otherwise no correct reference search is possible. If MT_FASTREF is not set Poslimit is not
imperative. The reference search will be with a fixed velocity of 1.
6.4.9 Aborting reference search
A reference search is aborted with CMD $2B, SQPack-Tab “Reference search”.