TMC SIXPACK 2 TRINAMIC, TMC SIXPACK 2 Datasheet - Page 22

• 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

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SIXpack 2 – manual (V1.01 / May 5
, 2006) 22
6.2 Programming
The concept programming the SIXpack 2 is based on dataset of a fixed length. To allow networks the
datasets have to contain the SIXpack 2 address.
The commands dataset itself contains a command byte and seven bytes to transfer parameters. The
bytes have to be transmitted even if they contain no data.
Figure 6.2: Command dataset
6.2.1 Hints for Programming
6.2.1.1 Strategy for Parameter Setting
The Pack can be parameterized for standard applications with a few commands since it is pre-set with
default values. However these default values should not substitute a thorough configuration of all
parameters in a given application. Normally the following parameters should be configured for your
application:
6.2.1.2 Setting of Motor Current
Configure maximum current (s. CMD $10) and current control (s. CMD $11) as needed. The minimum
current (which provides proper microstepping) selected by current control is 19% (Index 6) for every
parameter.
6.2.1.3 Velocity Configuration (global)
Calculate clkdiv (s. CMD $12, SQPack-Tab “Velocity & Acceleration”) with the step frequency formula (s.
begin of chapter Instruction Set) so that the required maximum step velocity is achieved with v
= 511
i
and small values div
= 0 or 1.
i
6.2.1.4 Setting of starting Velocity, max. Velocity and max. Acceleration
These values (s. CMD $13 and $14) should be adapted to the motor type, mechanical load, and so on.
As a reference value div
should be set so, that the maximum velocity vmax could be set between 256
i
and 511. This way maximum resolution is obtainable. Then the acceleration amax can be configured.
The velocity vstart should not be set too low.
6.2.1.5 Setting of Motor Parameters and Reference Search Parameters
These settings describe the axis type, the reference search, and so on. For time saving purposes both,
fast reference search FastRef (s. CMD $15 P6, Bit1) should be activated and the maximum velocity for
this reference search should be set. To avoid errors caused by vibrations of the motor during fast
reference search, de-bouncing of the reference switch FilterSwitch (s. CMD $15 P5, Bit7) should be
activated, too, and the mask for reference point de-bouncing (s. CMD $16) should be programmed with
an applicable value. vmin (always used with predivider div
set to 3) will be used while exactly locating
i
the reference switch. The fastest possible vmin will be choosen automatically when its value is set to 0.