TMC SIXPACK 2 TRINAMIC, TMC SIXPACK 2 Datasheet - Page 32

• 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) 32
Example: In a parallel started ramp run of Motor 1 and Motor 2 is demonstrated. The parameters for
velocity and acceleration (refer to 6.6.1) are identical for both motors but the distance for motor 1 is
longer. Both motors start at the same time, accelerate synchronous and have the same maximum
velocity. Motor 2 reaches its target position earlier and therefore finishes the ramp earlier than motor 1.
6.6.5 Starting linear interpolation of multiple axis
A linear interpolated movement of different axis is possible with the command StartInterpolation (CMD
$50). All motors reach the target at the same time. The target has to be set previously at motor standstill
with the command SetTargetPosition (CMD $24).
The axis with the longest distance, i.e. the longest movement time at maximum velocity, is the leading
axis. The velocities of the other axis rely on this leading axis. A small inhomogeneity may occur,
nevertheless. Therefore the status of all moved motors should be checked before the next command.
Example: In Figure 6.6: Synchronous start of motors
Figure 6.7 a linear interpolated ramp
run is demonstrated. Motor 1 has a longer distance to move than motor 2. Therefore Motor 1 is
accelerated to the velocity defined in VMax. For motor 2 a lower maximum velocity has been calculated.
Both motors reach their target simultaneously. The values for the acceleration are still valid, so the slope
of both ramps is identical.
Figure 6.6: Synchronous start of motors
Figure 6.7: Linear interpolated ramp
6.6.6 Configuration for rotating movements
The SIXpack 2 differentiates between linear and rotating movements. The active mode is defined by the
flag MT_ROTARY (command SetMotorParameters, CMD $24).
Most important is the interpretation and definition of the positioning values. In linear mode the difference
between actual and target position is interpreted as absolute value for the micro steps to run. Target
positions may be out of the value range defined by Poslimit.
The value range is strictly limited by the value of Poslimit. Positions above this value are adjusted with
a modulo operator to a multiple value. The flag MT_NULLLEFT (command SetMotorParameters) defines
in rotating mode if the positioning values are in positive or negative area: