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Monopack 2 Manual V1.04 12
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
4 Binary Command Reference
In the description of the commands, hexadecimal values are marked with a leading “$” sign. Numbers which
occupy more than one byte are stored with least significant byte first and are marked with a “#” sign.
To get used to the binary command set we recommend to start with the Monopack Control Panel software. Please
refer to chapter 6.
4.1 Parameter Storage Control
As described in section 3.2.3 it can be controlled whether parameters are to be stored in the EERPOM or not, and
parameters can also be read back. This is done using the P0 parameter. The meaning of this parameter is as
follows:
P0 byte Function
0
Set value and store the new value in the
EEPROM
1 Set value, but do not alter the EEPROM
2 Read the value from the EEPROM
3 Read the actual value
Whenever a parameter is read, a data telegram of the same format as the command is sent back.
4.2 Motor Parameters
4.2.1 Current Limit ($10)
Set the absolute maximum current. This command is new on the Monopack 2. On the old Monopack, the absolute
maximum current could only be set using the MC0 and MC1 input. On the Monopack 2 this is also possible, but it
is now better to use this command. The absolute maximum motor current also depends on the setting of DIP
switch #8.
CMD $10
P0 Parameter storage control (s. 4.1)
P1 Current limit
0: Selected by MC0 and MC1 inputs
1: 0.8A when DIP switch #8 is OFF and 4.15A when switch #8 is ON
2: 1.6A when DIP switch #8 is OFF and 5.0A when switch #8 is ON
3: 2.5A when DIP switch #8 is OFF and 5.7A when switch #8 if ON
4.2.2 Current Control ($11)
Set up the motor current control. The current is separately controlled for the standby phase (v=0), the acceleration
phase and the constant velocity phase. All three values with this command have a range of 0..255, where 255
means 100% of the selected absolute maximum current. Please see also section 4.2.1 for selecting the absolute
maximum current.
CMD $11
P0 Parameter storage control (s. 4.1)
P1 Standby current (motor standing still) (0..255)
P2 Active current (motor rotating with constant velocity)
(0..255)
P3 Acceleration phase current (0..255)