Trinamic SIXpack 2, Руководство пользователя

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SIXpack 2 – Manual (V1.10 / January 29
th
, 2010) 39
Reference Search Parameters
(change only with motors standing still)
Note: Only relevant for fast reference search!
CMD $16
P0 motno (0...5)
P1,2 # Vrefmax (1..511): fast reference search velocity:
511 >= vmax >= vrefmax >= vstart
P3,4 # mask for reference switch de-bouncing ($0001=0ms,$0003=2ms,...$FFFF=30ms)
P5 # Bit0: 1=Stop after reference search, 0=continue actual action after reference search
Write motor characteristics Table
Depending on the position the motors are controlled with discrete analogue current values. The lower 5 bits
of the position counter of each motor are used as a pointer into the symmetrical characteristics table and
determine the current for coil A of the motor. The current for coil B is determined from the same table by a
pointer shifted by 16 steps. For customizing the table can be modified for all motors in common. Therefore
only the lower half (16 entries) has to be programmed.
Default-table: 255 * SIN([0.5..15.5]/32*PI)
CMD $17
P0 pointer to the table (start = 0,4,8 or 12)
P1..P4 # 4 table entries (0..255) starting from the given position
(e.g. table=255, 255, ..., 255 -> full step)
Null Point-Offset and -Range
The null point-offset allows to compensate for the tolerance of the reference switch of linear drives. When
used, the reference search will drive further into the null point and the null point is set there. This especially
is important, when the zero point check is enabled (
TestNull , s.a.). If at the same time testing for premature
interrupt of reference switch is enabled ( StopNull , s.o.) a small area around the zero point can be excepted
from the test via the parameter testnullrange . Outside this area the reference switch triggers an emergency
stop and reference search, when the motor is driving into the direction of the reference point. The offset also
can be used to shift the null-point farther to the middle of a linear axis.
CMD $18
P0 motno (0...5)
P1,2,3,4 # nulloffset (signed long): distance between zero point and reference switch
P5,6 # testnullrange (0..65535): range where zero switch may be active
PI-Parameter
The PI-controller allows to generate a velocity profile by continuously giving new target positions via the host
computer. The factors for the integral and proportional part determine the feedback-control characteristics. The
controller works at 500Hz. The proportional part is 64 * position difference /
propdiv . The integral part
integrates the part of the position difference clipped to a maximum limit by intinpclip . The influence of the
integral part is determined by the divisor intdiv .
CMD $19
P0 motno (0...5)
P1 propdiv (1..255)
P2,3 # intdiv (1..32767)
P4,5 # intclip (1..32767)
P6 intinpclip (0..255)