TMC SIXPACK 2 TRINAMIC, TMC SIXPACK 2 Datasheet - Page 39

• 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
7.2 Driving Ramps
Query Position and Activity
Query Velocity and Activity
Start search of Reference
First the motor is stopped. The motor optionally drives fast (vrefmax), searching for the position of the
switch. When the switch is found, the motor is driven back to the point, where the switch becomes
inactive. Then it is slowly driven with vmin towards the switch to find the exact position. If the switch
cannot be found again at slow speed where it had been found before, or if no switch is seen during
125% of the drive limit-range, the whole procedure repeats by first stopping again, which may give
another chance to hold grip for an axis out of control. After the reference point has been identified via
the reference point switch the position is set to null respectively to null-offset and the motor resumes
its previous operation e.g. by driving a to the actual position posact, where the reference search
started, if CMD $16 P5, Bit0=0 (s. CMD $16).
($22 and CMD $15, P5, Bit2 start the same action!)
CMD
P0
P1
response
CMD
P0
P1,2,3,4 #
P5
P6
CMD
P0
P1
Response
CMD
P0
P1,2 #
P3
CMD
P0
$20
motno (0...5)
response address
$20
motno (0...5)
posact (signed long): current position
Current action (0: inactive, 5: ramp, 10: PI-controller, 15: rotation, 20 – 29: reference
switch search, 30: mechanical reference)
bit 0: stop-status. 1=Stop-condition has occurred. Flag is cleared after read.
$21
motno (0...5)
Response address
$21
motno (0...5)
Vact (integer): actual velocity
Current
20 – 29: reference switch search, 30: mechanical reference)
$22
motno (0...5)
action(0:
th
, 2006) 39
inactive,
5:
ramp,
10:
PI-controller,
15:
rotation,