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Trinamic SIXpack 2 Скачать руководство пользователя страница 27

SIXpack 2 – Manual (V1.10 / January 29

th

, 2010) 

 

27 

 

6.2.2.4

 

Starting a two axis interpolated movement 

Linear motions with multiple axes can be driven. For this, the destinations have to be set via CMD $26 and then 
the trapezoidal Ramp can be started via CMD $50. In the example the axis 1 is navigated to position 10000 and in 
parallel the axis 2 to position 2000. 
 
Pseudocode: 
sendToPack(address); 

 

// Address of the 

Sixpack2

 

sendToPack(0$26); 

 

 

// Command for setting the destination 

sendToPack(0);   

 

// Motor 1 

sendToPack($E8); 

 

 

// 232 

sendToPack($03); 

 

 

// 3*256=768  

sendToPack($00); 
sendToPack($00); 
sendToPack(0);   

 

// fill 9 bytes 

sendToPack(0);   

 

// fill 9 bytes 

 
sendToPack(address); 

 

// Address of the 

Sixpack2

 

sendToPack($26); 

 

 

// Command for setting the destination 

sendToPack(1);   

 

// Motor 2 

sendToPack($D0); 

 

 

// 208 

sendToPack($07); 

 

 

// 7*256=1792  

sendToPack($00); 
sendToPack($00); 
sendToPack(0);   

 

// fill 9 bytes 

sendToPack(0);   

 

// fill 9 bytes 

 
sendToPack(address); 

 

// Address of the 

SIXpack2

 

sendToPack($50); 

 

 

// Command for multi-axis Interpolation 

sendToPack($03); 

 

 

// 0000 0011=3, e.g. Mask for motor 1 and 2 

sendToPack(0);   

 

// fill 9 bytes 

sendToPack(0);   

 

// fill 9 bytes 

sendToPack(0);   

 

// fill 9 bytes 

sendToPack(0);   

 

// fill 9 bytes 

sendToPack(0);   

 

// fill 9 bytes 

sendToPack(0);   

 

// fill 9 bytes 

 

Содержание SIXpack 2

Страница 1: ...SIXpack 2 Manual 6 Axis stepper motor controller driver module 1 4A RMS 2A peak 48V with CAN RS485 and RS232 interface GmbH Co KG Sternstra e 67 D 20357 Hamburg Germany http www trinamic com...

Страница 2: ...7 Adjusting the maximum current 12 5 2 8 Setting the chopper mode 13 5 3 Connections 13 5 3 1 Current supply 13 5 3 2 Serial interface 13 5 3 3 Motor connectors 13 5 3 4 Connector specifications 14 5...

Страница 3: ...borting reference search 31 6 5 End switch configurations 31 6 5 1 A_ln as end switch input 31 6 5 2 Combination of end and reference switches 31 6 5 3 Security Margin for combined end reference switc...

Страница 4: ...rt or sustain life and whose failure to perform when properly used in accordance with instructions provided can be reasonably expected to result in personal injury or death TRINAMIC Motion Control Gmb...

Страница 5: ...position is not known after power on Thus a reference search has to be made in order to find the absolute position Most applications use switches or photo interrupters to detect the reference positio...

Страница 6: ...er channel peak coil current constant current chopper ca 36 kHz motor driver thermally protected motor type bipolar 2 phase motors motor connectors 8 pin single in line motor reference switch A D 5V s...

Страница 7: ...t ICOIL 1 4 ICOIL A IMC Continuous motor current RMS 0 0 3 1 1 1 1 A U 5V Internally generated 5V voltage 4 8 5 5 2 V I 5V Load on 5V output sum of all outputs 100 mA R 5VMC Internal protection resist...

Страница 8: ...ce possible i e low coil resistance to obtain smoothest movements and the maximum possible RPM On the other hand low coil resistance increases the required motor current Therefore you should choose th...

Страница 9: ...and 6 4 2 SIXpack compatible setting ON OFF Mx_I0 Mx_I1 2A_135 2A_246 MD_135 MD_246 Motor current 0 8 A Chopper scheme Slow decay To use mixed decay for all motors switch MD_135 and MD_246 off 4 3 QU...

Страница 10: ...ings 5 2 1 SIXpack 2 Address Before the SIXpack 2 is put into operation some adjustments of the device have to be checked eminently the address of the serial interface It is set via the CANHI and CANL...

Страница 11: ...seven segment display shows the number of active motors With an appropriate power supply a 0 is shown at start The decimal point indicates that a reference search at any motor is accomplished If a ma...

Страница 12: ...0 5 A ON OFF Mx_I0 Mx_I1 2A_135 2A_246 Current setting for each motor index x specifies the motor number 0 8 A ON OFF Mx_I0 Mx_I1 2A_135 2A_246 Current setting for each motor index x specifies the mo...

Страница 13: ...nt is conform to the usage and quantity of motors The connector is labeled POWER Be aware that the polarity is correct and make sure that your supply voltage never exceeds the absolute maximum rating...

Страница 14: ...ector For fundamental functions the pin connections for the motor phases are important Connect the motor coils indicated in Figure 5 4 with the connector of the pack SIXpack 2 M PHB2 PHB1 PHA2 PHA1 Fi...

Страница 15: ...itInformation is useful Choose the tab Others and activate in box Commands the line 43 Get Unit Information If the connection settings are done correctly it is possible to click the button Send at the...

Страница 16: ...Afterwards any commands can be saved to the file until the recording is ended by clicking EndRecording CAUTION Some commands are excepted at stopped motor only According to this refer to the command...

Страница 17: ...d reference point is reached Electrical reference point At any point of the positioning scale of the axis an electrical switch is implemented which is activated by the passing motor The SIXpack 2 catc...

Страница 18: ...p switch SIXpack 2 A_ln GND 5V 2k2 2k2 optional Stop_R Ref switch 2k2 Figure 5 10 Combination of reference and end switches Note In this circuit the reference switch is concurrently used as left stop...

Страница 19: ...ware configuration described above is the starting point For the basic configuration only the variables Poslimit MT_NULLLEFT and MT_NULLPOSITIVE are relevant MT_NULLLEFT and MT_NULLPOSITIVE are set to...

Страница 20: ...rent 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 descriptio...

Страница 21: ...is in sending mode The CTS line will be ignored When a valid command word is received the status LED flashes 6 1 2 CAN interface The integrated CAN Controller supports the full CAN specifications 2 0B...

Страница 22: ...controlled via CAN Therefore the baud rate is set via command RS 232 change baud rate Only 8 bit 1 stop bit and no parity is possible Of course 7 bit and parity could be simulated by the user The resp...

Страница 23: ...ak current then is 1 4A in microstep operation The nearest DIP switch setting is 1 5A Now set the peak current setting to 1 4 1 5 255 238 For motor 2 peak current requirement is 600mA 1 4 840mA We now...

Страница 24: ...ion the testnull range can be choosen around 1 2 fullsteps 16 In all other cases you must choose it at least slightly larger than the active area of the reference switch or half of this for nullcenter...

Страница 25: ...g bytes indicates that the value is in hexadecimal notation 6 2 2 1 Setting motor parameters CMD 15 contains information about the motor and settings for the reference drive For more details see Hints...

Страница 26: ...es whether a stop switch was active This is e g when the motor has lost steps and if during driving back to the real null point the switch is found too early Pseudocode sendToPack address Address of t...

Страница 27: ...Motor 1 sendToPack E8 232 sendToPack 03 3 256 768 sendToPack 00 sendToPack 00 sendToPack 0 fill 9 bytes sendToPack 0 fill 9 bytes sendToPack address Address of the Sixpack2 sendToPack 26 Command for s...

Страница 28: ...ull step frequency 1 16micro step frequency fclk is 20MHz Clkdiv ClockDivider 12 SQPack Tab Velocity Acceleration is the same for all motors value range 0 31 vi respectively vakt is the velocity of ea...

Страница 29: ...absolute number of micro steps from zero to target position The maximum value of micro steps per axis is adjusted by variable Poslimit in command SetMotorParameters CMD 15 SQPack Tab Reference search...

Страница 30: ...ence switch delay At use of mechanic reference switches the problem of a delay time problem between mechanic and electronic status change occurs often To avoid dysfunction it is possible to delay the...

Страница 31: ...mits CMD 30 SQPack tab I O in the variables MinLeft bzw MaxRight 6 5 2 Combination of end and reference switches If the reference switch is at the end of the axis it can be used as en switch also This...

Страница 32: ...command ConstantRotation is used again and Velocity is set to 0 6 6 3 Change target position for ramp run To change the target position of an active ramp run use the command SetTargetPosition CMD 24 S...

Страница 33: ...r 2 VStart Motor 2 Motor 2 v t VMax Motor 1 VStart Motor 1 Motor 1 t Figure 6 6 Synchronous start of motors left and Linear interpolated ramp right 6 6 6 Configuration for rotating movements The SIXpa...

Страница 34: ...2 7 Also the command SetCurrentControl CMD 11 provides the possibility to adapt to the actual movement In the variables a percentage grading can be defined EXAMPLE Current of max current Variable set...

Страница 35: ...define 100 curr control as 400 mA T0 500 wait 1000 ms before standby I0 00 waste no energy for unused motors I1 50 power stopped motors with 200 mA I2 75 power v const motors with 300 mA I3 100 power...

Страница 36: ...1 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 f...

Страница 37: ...ck promptly reacts to changes CMD 14 P0 motno 0 5 P1 2 amax 1 32767 max motor acceleration 1 64 amax is accumulated with 500Hz during acceleration to vact Beginning with vstart the motor is accelerate...

Страница 38: ...StopNoRef P6 Bit 6 0 if motor stops at zero point but switch remains inactive after settle time Note Check only when motor is ready Bit 4 NullLeft 1 zero point left of driving range otherwise right Bi...

Страница 39: ...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 TestNul...

Страница 40: ...or is stopped The motor optionally drives fast vrefmax searching for the position of the switch When the switch is found the motor is driven back to the point where the switch becomes inactive Then it...

Страница 41: ...et 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 m...

Страница 42: ...ked 1 respond only after motor has become inactive response CMD 28 P0 P5 current action 0 5 0 inactive 5 ramp 10 PI controller 15 rotation 20 29 reference search 30 mechanical calibration Start trapez...

Страница 43: ...set acceleration If the StopSoft Flag isn t set the motor will be stopped abruptly so that the precise motor position may be lost Therefore a reference search will be started additionally if the StopN...

Страница 44: ...umber CMD 43 P0 response address response CMD 43 P0 firmware revision e g 148 V1 4 8 P1 reset flag during first read out 1 afterwards 0 P2 temperature of PACK in C 8 bit signed P3 P4 serial number Con...

Страница 45: ...tor 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 eras...

Страница 46: ...EEPROM CMD F6 P0 address for response P1 2 Magic Code 2 P3 P4 address P5 P6 value response CMD F6 P0 1 writing successful Read EEPROM CMD F7 P0 address for response P1 2 Magic Code 2 P3 P4 address P5...

Страница 47: ...on the fly target position change 41 Set actual Position 42 Query all Motor Activities Request delayed Response 42 Start trapezoidal Ramp in parallel 42 Stop Motors selectively or synchronously 42 Abo...

Страница 48: ...al guidelines Sample tests have been accomplished by an accredited test labor EMV Services GmbH Co KG Schlo stra e 6 12 D 21079 Hamburg Germany Applied Standards EN 61000 6 4 2002 Generic emission sta...

Страница 49: ...SIXpack 2 Manual V1 10 January 29th 2010 49 10 Test Reports...

Страница 50: ...3V max current depends on DIP switches in 7 1 Peak current 1 07 20 Jun 2007 HC Figure 5 9 Figure 5 10 in line resistor not optional Figure 6 6 acceleration corrected 1 08 24 October 2007 HC 5 2 6 Driv...

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