Trinamic SIXpack 2, Руководство пользователя

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SIXpack 2 – Manual (V1.10 / January 29
th
, 2010) 41
Start trapezoidal Ramp
The motor drives from its current position to the target position. The command does not influence the motor,
if the motor is still active. To change the target position at any time (on-the-fly) use command $26, and follow
it by command $23 with the same target position, to ensure that the motor also starts if it stood still before.
The motor will use the optimum way to the target, while considering the motion parameters as well as the
current velocity.
If rotation has been active, the motor is only stopped by this command. The distance of any ramp must be
within 32 bit signed range too– which is no restriction as long as you consider 0 as one limit of your driving
range.
note: For circular motors the position cant be both positive and negative.
( null-left-motors (s. CMD $15):
0 <= position < poslimit)
( non null-left-motors : 0 >= position > -poslimit)
CMD $23
P0 motno (0...5)
P1,2,3,4 # target position (32 bit signed long)
Activate PI-Controller on Target Position (on-the-fly target position change)
The motor position will be controlled by the PI-Controller so that the target position is reached. Switching to
PI-controller happens immediately, even if the motor is inactive. When the PI-controller was already active the
target position will be reprogrammed immediately. The maximum distance must be less than 32 bit signed
range too – which is no restriction as long as you consider 0 as one limit of your driving range (which
however is not mandatory).
CMD $24
P0 motno (0...5)
P1,2,3,4 # Target position (32 bit signed long)
Start Rotation / change Rotation Velocity
With this command it is possible to rotate an axis with the given velocity. The maximum acceleration is
obeyed when the velocity is to be changed. The change to rotation happens immediately, even if the motor is
still active. A check of the reference switch can not take place with too fast rotation.
Cyclic motors will wrap around at the end of their position ranges when rotating. (s. CMDs $15, $16)
CMD $25
P0 motno (0...5)
P1,2 # Rotation velocity (-511..511)
Set Target Position (on-the-fly target position change)
Modifies the target position without influencing the operation mode. Can be used to shorten or lengthen a
ramp. If a ramp has to overshoot due to late changing its target position the peak will decelerate with amax
instantly and continue driving a reverse ramp on its own.
CMD $26
P0 motno (0...5)
P1,2,3,4 # target position (32 Bit signed long)