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Monopack 2 Manual V1.04 2
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
Version
Version Date Author Remarks
1.00 2-Nov-05 OK Initial version
1.01 18-Aug-06 HC Added firmware update information
1.01 21-Aug-06 BD Added Monopack LT frequency incompatibility information
1.02 16-May-2007 HC Added Mixed Decay information (chapter 4.2.5)
1.03 15-Feb-08 GE Added V2.0 info
1.04 29-Jan-10 OK Declaration of Conformity added
Table of Contents
1
Introduction ................................................................................................................................................................... 5
1.1 Brief Description .................................................................................................................................................. 5
1.2 Technical Data ...................................................................................................................................................... 5
2 Connecting the Monopack 2 ..................................................................................................................................... 6
2.1 Pin Assignments .................................................................................................................................................. 6
2.2 Connecting the Motor ........................................................................................................................................ 6
2.3 Stop Switches and Reference Switches........................................................................................................ 7
2.3.1 Linear vs. Circular Drives ........................................................................................................................ 7
2.4 Incremental Encoder .......................................................................................................................................... 7
2.5 Power Supply ....................................................................................................................................................... 7
2.6 The RS232 interface ............................................................................................................................................ 7
2.7 The 25 pin Sub-D Socket ................................................................................................................................... 8
2.7.1 CAN and RS485 Interface ........................................................................................................................ 8
2.7.2 The Step/Direction Interface .................................................................................................................. 8
2.7.3 The Alarm Input ........................................................................................................................................ 8
2.7.4 The Alarm Output ..................................................................................................................................... 8
2.7.5 The Incremental Encoder Output ......................................................................................................... 8
2.7.6 The Stop Switch Outputs ....................................................................................................................... 8
2.8 The Step/Direction input socket...................................................................................................................... 9
2.9 The hexadecimal Switch.................................................................................................................................... 9
2.10 The DIP switches ................................................................................................................................................ 9
3 Controlling the Monopack 2 .................................................................................................................................... 10
3.1 Step/Direction Mode ......................................................................................................................................... 10
3.2 Binary Command Mode ................................................................................................................................... 10
3.2.1 Format of the Data Telegrams............................................................................................................ 10
3.2.2 Unit Addresses ......................................................................................................................................... 10
3.2.3 Parameter Storage .................................................................................................................................. 10
3.3 Monopack LT (ASCII) Command Mode ....................................................................................................... 11
4 Binary Command Reference .................................................................................................................................... 12
4.1 Parameter Storage Control ............................................................................................................................. 12
4.2 Motor Parameters .............................................................................................................................................. 12
4.2.1 Current Limit ($10) .................................................................................................................................. 12
4.2.2 Current Control ($11) ............................................................................................................................. 12
4.2.3 Get Current Control Settings ($53) .................................................................................................... 13
4.2.4 Frequency Range ($12) .......................................................................................................................... 13
4.2.5 Microstep Resolution, Waveform and Mixed Decay ($17) ........................................................... 13
4.3 Driving .................................................................................................................................................................. 14
4.3.1 About the Parameters ........................................................................................................................... 14
4.3.2 Velocity and Maximum Acceleration ($14) ...................................................................................... 14
4.3.3 Bow Value ($63) ...................................................................................................................................... 15
4.3.4 Get Acceleration and Velocity Settings ($52) ................................................................................. 15