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Trinamic MONOPACK 2 Скачать руководство пользователя страница 21

Monopack 2 Manual V1.04

21

Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG

4.5.7

PID Controller Configuration ($6A, $6B, $6C, $6D, $6F)

The following commands ($6A, $6B, $6C, $6D, $6F) are to be used for setting up the PID controller configuration
registers of the TMC453. Please see the TMC453 manual for further explanation of the PID controller registers.

CMD

$6A

P0

Parameter storage control (s. 4.1)

P1,P2

Pid_control register

P3,P4

Pid_vcalc_factor register

CMD

$6B

P0

Parameter storage control (s. 4.1)

P1

Pid_pcof register

P2

Pid_p_range register

P3

Pid_icof register

P4

Pid_i_range register

P5

Pid_dcof register

P6

Pid_d_range register

CMD

$6C

P0

Parameter storage control (s. 4.1)

P1

Pid_clip_p register

P2

Pid_clip_i register

P3

Pid_clip_d register

CMD

$6D

P0

Parameter storage control (s. 4.1)

P1

Pid_clip_int_sum register

P2

Pid_clip_int_input register

P3,P4

Pid_clip_sum register

CMD

$6F

P0

0

P1

0:turn off the PID controller
1:turn on the PID controller

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Содержание MONOPACK 2

Страница 1: ...MONOPACK 2 Manual Version 1 04 Jan 29th 2010 Trinamic Motion Control GmbH Co KG Sternstra e 67 D 20357 Hamburg Germany http www trinamic com...

Страница 2: ...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 Outpu...

Страница 3: ...4 6 Alarms and Errors 22 4 6 1 Alarm Mode 51 22 4 6 2 Reset Alarm Output 74 22 4 7 Other Settings 22 4 7 1 Enter Step Direction Mode 50 22 4 7 2 Set CAN receive ID and RS485 ID 55 22 4 7 3 Set CAN sen...

Страница 4: ...pack 32 8 Declaration of Conformity 33 TRINAMIC Motion Control GmbH Co KG does not authorize or warrant any of its products for use in life support systems without the specific written consent of TRIN...

Страница 5: ...can also be selected by a DIP switch From version V2 0 on the Monopack 2 is RoHS conform 1 2 Technical Data Features and operational ratings Ramp profile S curve controlled by a TMC 453 Step type Micr...

Страница 6: ...2 1 5 6 9 2 TxD 3 RxD 5 GND 5V STEP STEP GND DIR DIR Figure 2 1 Connectors and pin assignments 2 2 Connecting the Motor Connect one phase coil to the A1 and A2 connectors and the other phase coil to t...

Страница 7: ...s and also a reference switch is used for finding the reference point The reference switch can also be combined with one of the end switches as shown in Figure 2 1 Right Stop Switch Traveller Left Sto...

Страница 8: ...current control inputs MC0 and MC1 also belong to the Step Direction interface Using these inputs the motor current can be controlled by hardware in three steps please see also section 4 2 1 MC0 MC1 M...

Страница 9: ...changing the hexadecimal switch setting 2 10 The DIP switches The DIP switches allow selecting the interface that is to be used and the operating mode They have the following functions Switch Functio...

Страница 10: ...dress of the unit In CAN mode the identifier field of the CAN telegram is used to address the unit So the format of every Monopack data telegram is as follows Address in RS485 mode only Command P0 P1...

Страница 11: ...In LT mode the communication with the Monopack 2 can either take place via the RS232 interface or via the RS485 interface The CAN interface can not be used in LT mode The baud rate is 9600 bps Attenti...

Страница 12: ...rent 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 th...

Страница 13: ...ults in the following numbers of microsteps Parameter Resolution 65 100 8 66 202 125 67 406 5 The second parameter controls the waveform It is a sine wave when set to zero a triangular wave when set t...

Страница 14: ...acceleration rate can be calculated as follows f clk a f a 2 24 2 2 max fclk is 16MHz f is the pre divider setting s 4 2 4 amax is the acceleration setting to be set up using command 14 Command 23 s 4...

Страница 15: ...l Position 20 Get the actual position of the motor CMD 20 P0 0 Answer CMD 20 P0 0 P1 P4 Actual position signed 24 bit 4 3 6 Get actual Acceleration and Velocity 21 Get the actual acceleration and velo...

Страница 16: ...f the motor using the given velocity The maximum acceleration setting s 4 3 1 is used to accelerate or to decelerate the motor CMD 25 P0 P1 P2 Velocity 8191 8191 4 3 9 Reset Position 27 Set the positi...

Страница 17: ...0 Reserved always set to zero P6 0 1 0 travel check disabled 1 use the reference switch also as a travel check switch see also 4 4 5 4 4 2 Deceleration at Stop Switches 57 Set the deceleration which i...

Страница 18: ...rage control s 4 1 P1 Tolerance 4 4 6 Number of Microsteps per Revolution 15 Set the number of microsteps per revolution This is needed for travel checking in the circular movement mode The number of...

Страница 19: ...coder multiplier This can be used if the resolution of the encoder is lower than the resolution of the motor When for example the multiplier is set to 5 every encoder pulse will increment or decrement...

Страница 20: ...viation alarm occurs 2 hard stop when deviation alarm occurs P3 P4 0 no automatic position correction after deviation 1 65535 start automatic position correction n 200 sec after a deviation has been d...

Страница 21: ...control s 4 1 P1 P2 Pid_control register P3 P4 Pid_vcalc_factor register CMD 6B P0 Parameter storage control s 4 1 P1 Pid_pcof register P2 Pid_p_range register P3 Pid_icof register P4 Pid_i_range regi...

Страница 22: ...r error 0 no 1 yes short circuit overload etc P2 Deviation error 0 no 1 yes s 4 5 5 P3 External alarm input 0 no 1 yes P4 Travel check tolerance error 0 no 1 yes s 4 4 5 P5 Position correction error 0...

Страница 23: ...given CMD 43 P0 0 Answer CMD 43 P0 Firmware revision decimal 203 means V2 03 P1 Reset Flag 1 after a reset P2 Not used P3 P4 Temperature 16 bit units TBD On the old Monopack this command also returned...

Страница 24: ...Some commands also send back one or more messages Each message is terminated by a CR and LF Command Short description See section A value Set acceleration value 1 8191 5 2 3 B value Set bow value 1 8...

Страница 25: ...be followed by a vlaue between 1 and 8191 Do not set this value to 0 Example B10 sets the bow value to 10 5 2 5 Velocity setting Command V value The command V sets the maximum velocity of the motor It...

Страница 26: ...around The Monopack 2 sends back the message to pos_targ with pos_targ target position after the command has been entered The motor must be standing before this command is entered 5 2 12Relative move...

Страница 27: ...h 5 2 18Find reference switch position Commands N and O These two commands can be used to find the reference switch manually Normally there is no need to use them instead use the G command Entering th...

Страница 28: ...P t VOLT v will be sent back 5 2 27Write all parameters to the EEPROM Command W After this command has been entered all parameters are stored in the EEPROM of the Monopack 2 When the EEPROM is enabled...

Страница 29: ...er to be used The address setting must be stored in the EEPROM using the W command 5 3 Help screen Entering the command shows a help screen This help screen displays all possible commands and the valu...

Страница 30: ...and section With Parameter and PID commands select if the values are to be changed or to be read out in the Modifier section Then fill in the necessary parameters in the Parameter section and after th...

Страница 31: ...2 to RS485 converter The RS485 data direction of this simple converter is controlled by the RTS signal of the PC s RS232 interface The pin numbers on the RS232 side are for use with a 9 pin Sub D plug...

Страница 32: ...ng a standard RS232 cable not a null modem cable and a 9 to 25 pin adapter 4 3 2 1 14 15 Monopack 25 pin Sub D socket T RTS R ON T RTS R RTS T ON R ON DCE SIM DTE MON Converter To PC RS232 Figure 7 3...

Страница 33: ...s the European and national guidelines Sample tests have been accomplished by an accredited test labor EMV Services GmbH Co KG Schlo stra e 6 12 D 21079 Hamburg Germany Applied Standards EN 61000 6 4...

Страница 34: ...Monopack 2 Manual V1 04 34 Copyright 2010 TRINAMIC Motion Control GmbH Co KG...

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