Trinamic SIXpack 2, Руководство пользователя

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SIXpack 2 – Manual (V1.10 / January 29
th
, 2010) 19
Calculation of the value range of a linear axis is easiest experimental. Therefore set the axis mechanics manually to
the start position and move it with use of SQPack to the end of the axis. Use the command “Ramp” (CMD $23,
SQPack-tab: “Movement”) and set value of
Position higher until the end of the axis is reached. Position represents
now the length of the axis.
5.5.3.2 Linear Axis, mechanical reference point
Important parameters for configurations are:
variable
Poslimit
,
Flag MT_NULLLEFT,
Flag MT_MECHREF.
The value range of the axis is specified in
Poslimit . The SIXpack 2 evaluates with this value the length of the
reference search (5/4 * Poslimit ). MT_NULLLEFT defines the direction of the reference stopper. It is on the left
side of the axis for NullLeft = 1.
For
Poslimit
= 10000 the produced dataset by SQPack is:
SendToPack($00, $15, $00, $10, $27, $00, $00, $10, $04).
The reference search is started with command
StartReferenceSearch (CMD $23), from the SQPack-tab “Reference
Search”. The dataset is as follows:
SendToPack($00, $22, $00, $00, $00, $00, $00, $00, $00).
5.5.3.3 Linear Axis, reference switch at beginning of axis
The hardware configuration described above is the starting point. For the basic configuration only the variables
Poslimit , MT_NULLLEFT and MT_NULLPOSITIVE are relevant. MT_NULLLEFT and MT_NULLPOSITIVE are set to 1. The
resulting dataset evaluated by SQPack for an axis of the length of Poslimit = 33333 is:
SendToPack($00, $15, $00, $20, $A1, $07, $00, $10, $40).
Start of reference search as described in 5.5.3.3.
5.5.3.4 Linear axis, combined end/reference switch left, end switch right
Starting point is the same. Additionally to Poslimit , the Flags MT_NULLLEFT and MT_STOPNULL have to be set.
The resulting dataset for Poslimit = 500000 is:
SendToPack($00, $15, $00, $20, $A1, $07, $00, $50, $40).
Start of reference search as described in 5.5.3.3.
5.5.4 Known issues
First you have to be sure the reference switch is on the left (ROL moves toward reference switch). If this is
different, select or deselect the flag NullLeft, depending to your actual setting.
When slow homing movement and then a jitter around the reference point occurs, the Sixpack 2 interprets the
reference switch inverted. Either use an inverted reference switch (closer/opener) or change the state of both
"Nullpositive" and "NullLeft". Now the homing still goes into the same direction, but with the correct fast
algorithm.
When now the motor after homing still keeps moving forth and back, please increase the NullTestRange.