Trinamic SIXpack 2, Руководство пользователя

Страница: 20 / 50

SIXpack 2 – Manual (V1.10 / January 29
th
, 2010) 20
5.6 Basic configurations for operation
5.6.1 Adjusting motor current
Additionally to the possibility to adjust the maximum motor current manually by the DIP switches in 5 stages,
(refer to 5.2.7) the motor current can be adjusted more precisely using a software setting (refer to 6.2.1.2).
First, the (maximum) current requirement of the motors has to be determined. Please refer to the motors’
datasheet. Commonly the motor data sheet specifies the full step current setting. To match this with the SIXpack 2,
a current of 1.4 times the motor’s peak current is possible. The command
PeakCurrent (CMD $10, SQPack-tab
„Current“) configures the maximum current.
CAUTION: The maximum current setting is always in common for two adjacent motor channels (1 and 2, 3 and 4,
5 and 6). The current setting concerns two motors!!!
The peak current setting issued by CMD $10 has a value range of 0…255. 255 refers to the full current as set by the
switch settings. Additionally, CMD $11 specifies a situation dependant current reduction. Typically, the acceleration
current is set to 100%, the constant velocity current is set to 100% or less, the standby current is set equal to the
constant velocity current or less (e.g. 50%), the power down current is set even lower, down to 0%, depending on
the torque required in these situations (refer to 6.7).
The resulting current setting is:
Current = (Peak Current / 256) * (Current specified by DIP switches) * CMD$11 percentage
5.6.2 Configuration of acceleration and velocity
The exact and calculation and configuration of micro steps and the description of parameters concerning
calculation of micro steps follow in “6 Full Functionality”. In this chapter the detection and configuration of
maximum acceleration and velocity is described, only.
5.6.2.1 Configuration of initial velocity
CAUTION: This value may be changed at motor standstill, only !!!
The initial velocity characterizes velocity at start of motion ramp. Value range is 1…256. The command StartVelocity
(CMD $13, SQPack-Tab „Velocity & Acceleration“) configures the initial velocity in the variable VStart .
Attention: This command changes the two other values VMin and ClkDiv , also. These functions are explained in
the Instruction Set. The default values VMin = 5 and Div = 2 are sufficient here.
Example dataset:
VStart
= 100,
VMin
= 5,
Div
= 2 for Motor 3:
SendToPack($00, $13, $02, $0A, $00, $0A, $00, $02, $00)
5.6.2.2 Acceleration and maximum velocity
Acceleration and maximum velocity are related closely. Starting from VStart a velocity with fixed frequency is
raised by AMax until VMax is reached. A detailed instruction is provided in the Instruction Set.
Both values are set with command SetAMaxVMax (CMD $14, SQPack-Tab „Velocity & Acceleration“). AMax has to be
ranged from 1 to ( VStart *64), VMax from 1 to 511.
Example dataset:
AMax
= 200,
VMax
= 400 for Motor 4:
SendToPack($00, $14, $03, $C8, $00, $90, $01, $00, $00).
5.6.3 Motion control
Divers commands for the movement of the axis are combined in chapter 6.6 “Commands for axis movements”.