TMC SIXPACK 2 TRINAMIC, TMC SIXPACK 2 Datasheet - Page 23

• 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
6.2.1.6 Problems with fast Search for Reference
The fast search for reference will function properly only if CMD $15 and $16 are set correctly, especially
those for the reference switch. Also is it sensitive to noise pulses in the wiring of the reference switch –
should the fast reference search stop abruptly, anti-noise measures have to be taken for the reference
switch input.
6.2.1.7 Interlacing of Requests
Requests must not be interlaced. Each request should wait for the response of the SIXpack 2 before
transmitting a new command. However a delayed response with RS 232 may be outstanding in parallel.
6.2.1.8 Default Values
For testing purposes here is a list of default values for motor parameters:
•
•
•
Stop
Left
clkdiv=5; div=2;
vstart=5;
amax=128; vmax=511;
vmin=4; vrefmax=100;
poslimit=400*16;
testnullrange=15*16;
Peak current=128;
T0=500;
I0=00%(!);
I1=50%;
I2=75%;
The reference switch defines the zero position. The zero position can be moved further into the
switch using the nulloffset setting. If testnullbit is set it must be active at the end of T0 and the
delay time of the filter.
Activation of the switch is only allowed in the testnullrange to testnull around the zero position. If
you reference to the edge of the switch and never exceed the zero position the testnull range can
be choosen around 1-2 fullsteps * 16. In all other cases you must choose it at least slightly larger
than the active area of the reference switch or half of this for nullcenter motors.
The reference search requires proper poslimit (0..0x7FFFFFFF) settings! For cyclic axis you must
set poslimit to the number of microsteps per revolution, for linear axis it should cover at least your
whole intended driving range to avoid unintended or interrupted reference drives.
traveller
poslimit
motor
direction
positive
// ignore switch in range –240 ... 240
// define 100% curr. control as 400 mA
// waste no energy for unused motors
Stop
Right
th
// 26 kHz microstep-frequency
// starting with 254 Hz (should be >=8)
// increments v by 128/16=8 each 2 ms
// 102 Hz / 5086 Hz for reference drive
// wait 1000 ms before standby
// power stopped motors with 200 mA
// power v const. motors with 300 mA
// 400 full- = 6400 microsteps/revolution
, 2006) 23
Graphic assumes null-left Flag is set and null point offset is positive(s. CMD $15).
In this configuration the reference switch is reliably closed at position null.
Note: testnullrange >= width of reference switch!
settings: null point-offset, poslimit -> CMD $15
testnullrange
-> CMD $18