Trinamic SIXpack 2, Руководство пользователя

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SIXpack 2 – Manual (V1.10 / January 29
th
, 2010) 43
7.3 Additional Inputs / Outputs
Read Motor Input Channels and additional Inputs
The analogue channels are prepared for ratiometric measurements of resistive dividers. Channel 6 is the
external input, channel 7 measures the voltage supply of the
PACK (1V equals value 22). The reference inputs
are inverted.
CMD $30
P0 channel no (0=channel0 ... 7=channel7).
P1 response address
Response
CMD
$30
P0 channel no (0...7).
P1,2 # analogue value (unsigned 0..1023)
P3 reference input (Bit 0)
P4 all reference inputs / jumpers (bit 0 = motor 0, ..., bit 6=jumper1, bit 7 = jumper2)
(s. setting the baud rate)
P5 bit 0: logic state at TTLIO1
Setting the Limits for the Stop Function left/right
A potentiometer or a resistor network connected to two stop switches at the analogue input of each motor
can trigger a hard or soft stop. The voltage of the analogue input should increase in right direction (cw). The
measured value is checked dependent on the motor direction. When a stop-condition occurs the motor is
stopped immediately. If
StopSoft -Flag is set, the motor is in decelerated with the pre-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 StopNoRef -Flag is not set. When the StopNull -
Flag is set, the zero switch also functions as a limit switch. If the reference switch is defined on the right side,
the motor then can only drive in the area of negative co-ordinates
( position <= 0) (s. CMD $15)
CMD $31
P0 channel no (0...7):
P1,2 # analogue value minimum for stop left (0=no function)
P3,4 # analogue value maximum for stop right ( 1023=no function)
Setting of additional Outputs
CMD $32
P0 bit 0: set logic level at TTLOUT1 (1=READY, 0= active)
P1 bit 0: output enable for TTLIO1 (1=input, 0=output)
P2 bit 0: set logic level at TTLIO1
P3 bit 0: 1=TTLOUT1 works as ready output (1=READY, 0= active)
Function of the ready Output
The ready output can be activated (low, open collector), whenever a motor is active (velocity greater than 0) or
search of reference. The ready output will be switched within 2 ms after start/end motor movement. The
repeatability (jitter) equals approximately the microstep rate during start respectively stop (s. CMD $13).
CMD $33
P0 mask for active motors (bit 0=motor 0, bit 5=motor 5)
P1 mask for reference search of a motor (bit 0=motor 0, bit 5=motor 5)