TMC SIXPACK 2 TRINAMIC, TMC SIXPACK 2 Datasheet - Page 38

• 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
Reference Search Parameters
Write motor characteristics Table
Null Point-Offset and -Range
PI-Parameter
(change only with motors standing still)
Note: Only relevant for fast reference search!
Depending on the position the motors are controlled with discrete analogue current values. The lower
5 bits of the position counter of each motor are used as a pointer into the symmetrical characteristics
table and determine the current for coil A of the motor. The current for coil B is determined from the
same table by a pointer shifted by 16 steps. For customizing the table can be modified for all motors
in common. Therefore only the lower half (16 entries) has to be programmed.
The null point-offset allows to compensate for the tolerance of the reference switch of linear drives.
When used, the reference search will drive further into the null point and the null point is set there.
This especially is important, when the zero point check is enabled (TestNull, s.a.). If at the same time
testing for premature interrupt of reference switch is enabled (StopNull, s.o.) a small area around the
zero point can be excepted from the test via the parameter testnullrange. Outside this area the
reference switch triggers an emergency stop and reference search, when the motor is driving into the
direction of the reference point. The offset also can be used to shift the null-point farther to the middle
of a linear axis.
The PI-controller allows to generate a velocity profile by continuously giving new target positions via
the host computer. The factors for the integral and proportional part determine the feedback-control
characteristics.
64 * position difference / propdiv. The integral part integrates the part of the position difference
clipped to a maximum limit by intinpclip. The influence of the integral part is determined by the divisor
intdiv.
CMD
P0
P1,2 #
P3,4 #
P5 #
CMD
P0
P1..P4 #
CMD
P0
P1,2,3,4 #
P5,6 #
CMD
P0
P1
P2,3 #
P4,5 #
P6
Default-table: 255 * SIN([0.5..15.5]/32*PI)
$16
motno (0...5)
Vrefmax (1..511): fast reference search velocity:
mask for reference switch de-bouncing ($0001=0ms,$0003=2ms,...$FFFF=30ms)
Bit0: 1=Stop after reference search, 0=continue actual action after reference search
$17
pointer to the table (start = 0,4,8 or 12)
4 table entries (0..255) starting from the given position
$18
motno (0...5)
nulloffset (signed long): distance between zero point and reference switch
testnullrange (0..65535): range where zero switch may be active
$19
motno (0...5)
propdiv (1..255)
intdiv (1..32767)
intclip (1..32767)
intinpclip (0..255)
The
511 >= vmax >= vrefmax >= vstart
(e.g. table=255, 255, ..., 255 -> full step)
controller
th
, 2006) 38
works
at
500Hz.
The
proportional
part
is