TMC SIXPACK 2 TRINAMIC, TMC SIXPACK 2 Datasheet - Page 25

• 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
6.2.2.2 Navigating the motor
CMD $23 prompts the concerned motor to drive to the position, which stands in P1 ... P4.
Pseudocode:
sendToPack(address);
sendToPack($23);
sendToPack(motno);
sendToPack(destinationLSB);
sendToPack(destination3rdSB);
sendToPack(destination2ndSB);
sendToPack(destinationMSB);
sendToPack(0);
sendToPack(0);
6.2.2.3 Inquiring the actual position of a motor
CMD $20 returns the 4-byte value with the actual position and status of the concerned motor. In addition
P6 specifies whether a stop-switch was active. This is e.g. when the motor has lost steps and if during
driving back to the real null-point the switch is found too early.
Pseudocode:
sendToPack(address);
sendToPack($20);
sendToPack(motno);
sendToPack(receiver);
sendToPack(0);
sendToPack(0);
sendToPack(0);
sendToPack(0);
sendToPack(0);
cmd
motno
posakt_byte1 = receiveFromPack();
posakt_byte2 = receiveFromPack();
posakt_byte3 = receiveFromPack();
posakt_byte4 = receiveFromPack();
act_action
stop
= receiveFromPack();
= receiveFromPack();
= receiveFromPack();
= receiveFromPack();
th
// Most significant Byte
// fill 9 bytes
// fill 9 bytes
// Command for inquiring actual position and action of one motor
// fill 9 bytes
// fill 9 bytes
// fill 9 bytes
// fill 9 bytes
// fill 9 bytes
// Address of the SIXpack2
// Command for starting a trapezoidal Ramp
// Number of the concerned motor (0...5)
// Least significant Byte of the target position
// Address of the SIXpack
// Number of the concerned motor (0...5)
// address of the receiver
, 2006) 25
// should be $20
// should be the same number as the sent
// LSB of the actual Position
// MSB of the actual Position
// Information about the actual action of the motor
// is 1 when null-switch is active