TMC SIXPACK 2 TRINAMIC, TMC SIXPACK 2 Datasheet - Page 19

• 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
5.6.2 Configuration of acceleration and velocity
The exact and calculation and configuration of micro steps and the description of parameters concerning
calculation of micro steps follow in “6 Full Functionality”. In this chapter the detection and configuration of
maximum acceleration and velocity is described, only.
5.6.2.1 Configuration of initial velocity
CAUTION: This value may be changed at motor standstill, only !!!
The initial velocity characterizes velocity at start of motion ramp. Value range is 1…256. The command
StartVelocity (CMD $13, SQPack-Tab „Velocity & Acceleration“) configures the initial velocity in the
variable VStart.
Attention: This command changes the two other values VMin and ClkDiv, also. These functions are
explained in the Instruction Set. The default values VMin = 5 and Div = 2 are sufficient here.
Example dataset: VStart = 100, VMin = 5, Div = 2 for Motor 3:
5.6.2.2 Acceleration and maximum velocity
Acceleration and maximum velocity are related closely. Starting from VStart a velocity with fixed
frequency is raised by AMax until VMax is reached. A detailed instruction is provided in the Instruction
Set.
Both values are set with command SetAMaxVMax (CMD $14, SQPack-Tab „Velocity & Acceleration“).
AMax has to be ranged from 1 to (VStart*64), VMax from 1 to 511.
Example dataset: AMax = 200, VMax = 400 for Motor 4:
5.6.3 Motion control
Divers commands for the movement of the axis are combined in chapter 6.6 “Commands for axis
movements”.
divider = (maximum current*256) / (2000mA * DIP switches)
SendToPack($00, $13, $02, $0A, $00, $0A, $00, $02, $00)
SendToPack($00, $14, $03, $C8, $00, $90, $01, $00, $00).
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