Trinamic SIXpack 2, Руководство пользователя

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SIXpack 2 – Manual (V1.10 / January 29
th
, 2010) 36
7 Instruction Set
The instruction code is listed in hexadecimal notation, prefixed with $-sign. “motno “ substitutes the number of the
motor (0=motorno.1 ... 5=motorno.6). Parameters with more than 1 byte are to be transmitted with the least
significant byte (bit 0 – 7) first.
7.1 Setting motor parameters
16 bit or 32 bit parameters, marked with “#”, are transferred with least significant byte
(Bit 0 – 7)
first.
Peak current
(settings are done for pairs of motors, i.e. each two motors 0 + 1, 2 + 3 respectively 4 + 5 have the same peak
current. Only the values set for motor-numbers 0,2 and 4 are valid.)
CMD $10
P0 motno (0...5)
P1 value (0..255): SIXpack: I
max,DIP
* value/256 (for I
max,DIP
refer to 5.2.7 Adjusting the maximum
current)
Current control
Note for energy saving : Power consumption can be reduced drastically when power-down current (I0) is set
to 0%, i.e. P1=8 for all (unused) motors.
CMD $11
P0 motno (0...5)
P1 I0 : power down-current (0..8): (0=100%, 75, 50, 38, 25, 19, [13, 9,] 0%)
P2 I1 : current when motor stands still (s.a.)
P3 I2 : current for constant velocity (s.a.)
P4 I3: current for acceleration (s.a.)
P5,6 # T0 (*): (1..65535): power down-delay time in increments of 2 ms
(Firmware before v1.40 required even values!)
(*) Note: T0 is also needed in CMD $15.
Velocity setting
(global setting for all motors, change only with stopped motors!)
CMD $12
P0 clkdiv (0..31): s. calculation of step frequency (default: clkdiv=5)
Starting velocity
(change only with stopped motors!)
CMD $13
P0 motno (0...5)
P1,2 # vmin (0..511): velocity used in combination with div
i
=3 for searching of the reference-switch.
The fastest possible vmin will be calculated automatically when vmin=0 is set.
vmin <= 250Hz / fminsteps
vmin <= vstart
(fminsteps is the microstep frequency when velocity = 1 and div
i
=3 is choosen)
P3,4 # vstart (1..511):
starting and ending velocity for acceleration ramp. Limited by firmware to
0 < vstart < ( 512 shr(3- div [i]))-1 (e.g. div [i]=2 -> 0 < vstart < 256)
P5 div
i
(0..3): s. calculation of step frequency (default: div
i
=2)