SIXpack 2 – Manual (V1.10 / January 29
th
, 2010)
45
7.5
Multi-dimensional Movement
Start multi-dimensional linear Interpolation
Coordinated movement with multiple motors to a target position. The motors have to stand still before
execution. All motors reach the target position at the same time. The target position has to be set for each
motor (with command $26) before. The axis, which, regarding its position distance, is the fastest, will be
automatically used as a master. In regard of its distance this axis will be driven with the lowest acceleration.
To determine if the target position has been reached, all involved motors have to be queried.
CMD
$50
P0
mask for motors (bit 0=motor 0, bit 5=motor 5)
(0: motor unused, 1: motor used in multi-dimension motion)
7.6
Service-Functions
These functions are not intended for the user and when used improperly the unit can be damaged
permanently.
Enable erasing and writing the Flash-Memory
CMD
$F2
P0
address for response
P1,2,3,4 #
magic code
Response
CMD
$F2
P0
1=erase OK
Program Flash Memory:
This function can only be used after erasing. It should not be interrupted by any other function until the flash
memory is fully programmed
CMD
$F3
P0-P6 #
7 data bytes
Query flash Memory Check-Sum and abort Programming if necessary
CMD
$F4
P0
address for response
response
CMD
$F4
P0,P1 #
check-sum
(value depends on SW -version)
Read out Flash-Memory
Query the check sum to set the auto-incrementing address pointer to zero, before using this function the first
time.
CMD
$F5
P0
address for response
response
CMD
$F5
P0-P6 #
7 data bytes read from the memory
