TMC SIXPACK 2 TRINAMIC, TMC SIXPACK 2 Datasheet - Page 41

• 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
Set actual Position
Query all Motor Activities, Request delayed Response
Start trapezoidal Ramp in parallel
Stop Motors selectively or synchronously
Abort reference search
The reference search for the specified motor is aborted.
Forces the internal position counter to any position. Can lead to unintended reference searches at
detection of zero switches.
Each axis can be queried for activity with this command. When delayed response is requested, the
PACK will send the response as soon as all concerned motors are inactive. The response contains
the actual action of all motors.
Attention! In RS 485 mode with multiple slaves this command can lead to bus collisions! To avoid
this, the bus should not be used for other transactions while waiting for response.
This command allows a coordinated start movement, by starting multiple motors at the same time.
The target position has to be programmed previously (s. CMD $26).
Multiple motors can be stopped at the same time via this command. It sets the target position of each
motor concerned equal to its actual position.
and return driving another ramp back to the point you set as their new target using this command.
CMD
P0
P1,2,3,4 #
CMD
P0
P1
response
CMD
P0..P5 #
CMD
P0
CMD
P0
CMD
P0
$27
motno (0...5)
posact: new actual position (32 bit signed long)
$28
response address
mask
(0: motor masked, 1: respond only after motor has become inactive)
$28
current action (0..5) (0: inactive,
5: ramp,
10: PI-controller,
15: rotation,
20 - 29: reference search,
30: mechanical calibration)
$29
mask for ramp (bit 0=motor 0, bit 5=motor 5) (0: motor masked, 1: start motor)
$2A
Mask for deceleration (Bit 0=Motor 0, Bit 5=Motor 5)
(0: Motor masked, 1: set target position to actual position)
$2B
motno (0...5)
for
delayed
th
, 2006) 41
response
H
owever motors driving beyond vstart will overshoot
(Bit
0=Motor
0,
Bit
5=Motor
5)