TMC SIXPACK 2 TRINAMIC, TMC SIXPACK 2 Datasheet - Page 37

• 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
Motor Parameters
Note on the reference search algorithm: Usually the reference switch is logically left, i.e. search
orientation is in the direction of descending co-ordinates. However if it is defined as logically right
(NullLeft not set) then the driving range is in the area of negative numbers because zero is the
largest number on the position scale.
Note: To exchange left and right physically, only one phase of the motor has to be polarized
reversely. The setting NullCenter is extremely useful for rotary axes: Here the center of the zero
switch is located, i.e. the center between the left and right start of the switch operating point.
For further information read chapter 6.1: Hints for Programming!
CMD
P0
P1,2,3,4 #
P5 #
P6 #
$15
motno (0...5)
Poslimit (0..0x7FFFFFFF): number of µ-steps (note: full-steps *16) per revolution for
rotary axes (is used with rotation or way optimization and reference search only),
resp. total way for linear axis (with reference search and mechanical reference,
then 5/4 of the distance will be driven in direction of the mechanical stop)
motor type:
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Bit 6: StopNull: stops the motor and sets Stop- bit,
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Bit 0: PIMode: 0=trapezoidal ramp, 1=PI-controller
Bit 1: Rotary Axis: 0=linear, 1=rotary axis
Bit 2: AutonullCmd: flag to start automatic reference search (s. CMD $22)
Bit 3: TestNull: set Stop -bit(s. CMD $20 P6),
Bit 4: NullLeft: 1=zero point left of driving range, otherwise right
Bit 5: NullCenter: set zero point to the center of the switch’s active area
Bit 7: FilterSwitch: 1=Zero point switch is de-bounced for 2-30ms
Bit 0: Way optimization for rotary axis by automatic selection of turning direction
Bit 1: FastRef: search for reference with high velocity (s.b.: vrefmax)
Bit 2: MechRef: use mechanical reference
Bit 3: DelayTestNull:
Bit 4: StopSoft:
Bit 5: StopNoRef:
Bit 6: NullPositive:
Bit 7: StopAtFullsteps: Stop ramps only at the nearest fullstep position
(triggering an reference search) if StopNoRef(P6, Bit 6)=0)
if motor stops at zero point but switch remains inactive after settle time.
(Note: Check only when motor is ready!)
(triggering an automatic reference search, if StopNoRef(P6, Bit 6)=0)
if zero switch is active outside the tolerance area around zero point
or analogue value exceeds its applying limit (s.b. modifier-bits 12 & 13)
(s.b.: mask for switch de-bouncing)
(drives 5/4 * poslimit towards zero point) rather than a reference switch
1=zero point switch is high active, i.e. high level at null-point
0=switch is low active
delay
in order to avoid failures caused by vibration. Initialization T0 s. CMD $11
1=motor
(switch or analogue values) is detected rather than stopping abruptly
(s. description of stop-function via analogue-input s. CMD $31)
1=no setting of Autonullcmd
on stop conditions, the Motor just stops instead.
th
, 2006) 37
zero
decelerates
point
check
with
by
(avoiding automatic reference search)
amax
T0-time
when
(s.
option
stop
TestNull)
condition