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Summary of Contents for Trinamic SIXpack 2
- Page 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 Sternstraße 67 D - 20357 Hamburg, Germany http://www.trinamic.com...
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Page 2: Table Of Contents
Start-up with software SQPack ........................15 5.4.1 Installation ............................... 15 5.4.2 Initiation..............................15 5.4.3 Functional test: Get system information of SIXpack 2 ..............15 5.4.4 “First steps”: Movement of motor ..................... 15 5.4.5 Concept of SIXpack 2 interface protocol ..................15 5.4.6 Macro functions of SQPack ........................ - Page 3 , 2010) 6.2.1 Hints for Programming ......................... 23 6.2.2 Examples ..............................25 Adjusting SIXpack 2 to motors micro step characteristics ..............28 6.3.1 Calculation of micro step frequency ....................28 6.3.2 Adapting the microstep-table to the motor characteristics ............29 Reference point adjustments .........................
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Page 4: Life Support Policy
SIXpack 2 – Manual (V1.10 / January 29 , 2010) 1 Life support policy TRINAMIC Motion Control GmbH & Co. KG does not authorize or warrant any of its products for use in life support systems, without the specific written consent of TRINAMIC Motion Control GmbH &... -
Page 5: Introduction
To control the SIXpack 2 there are different interfaces (RS232, RS485, CAN). It is not relevant to the SIXpack 2 if it is controlled by a desktop-PC, another machine operating unit or a set up with microcontroller. A stand alone operation is not possible. -
Page 6: Technical Data
SIXpack 2 – Manual (V1.10 / January 29 , 2010) Technical Data ramp profile: automatic 3-phase ramps (32 Bit signed position resolution) with programmable parameters for maximum frequency and acceleration for each channel; alternatively user defined ramps; automatic reference search (reference switch) stepping frequency: full step frequencies from 0.3 Hz 12.5 kHz... -
Page 7: Electrical Data
SIXpack 2 – Manual (V1.10 / January 29 , 2010) Electrical data The operational ratings show the intended / the characteristic range for the values and should be used as design values. In no case shall the maximum values be exceeded. -
Page 8: System Start Up
This condition should not occur in a normal operation condition. If the SIXpack 2 reports a board temperature above or near 85°C, a forced air cooling or other means to reduce heat dissipation, like reduction of stand by motor current is proposed to ensure a long product life time. -
Page 9: Replacing Quadpack Or Sixpack
SIXpack 2 – Manual (V1.10 / January 29 , 2010) 4 Replacing QUADpack or SIXpack The SIXpack 2 is fully compatible to the QUADpack and SIXpack. Adaptation is provided by DIP-switches. DIP-switch marking comments Mx_I0, Mx_I1: Inputs for motor current setting. The index x specifies the motor number 2A_135: Enable of 2A motor current for motor 1, 3 and 5. -
Page 10: Fundamental Functions - First Steps
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 CANLO switches and should be set to zero by default. -
Page 11: Baudrate Of Serial Interface
250 kbit/s (default)(*) Table 5.1: Adjustment of baudrate with jumpers (*): The SIXpack 2 has an internal buffer for 16 CAN commands which need about 2ms execution time each. This might limit the maximum data throughput. The command GetInputValues (SQPack-Tab I/O, $30) provides the actual jumper configuration in the variable AllInputs. -
Page 12: Adjusting The Maximum Current
5.2.7 Adjusting the maximum current The maximum current of the SIXpack 2 can be set via DIP-switches. The switches are close to the motor connectors. This adjustment allows a coarse adaptation of the current setting to the motors’ maximum current. -
Page 13: Setting The Chopper Mode
SIXpack 2 – Manual (V1.10 / January 29 , 2010) 5.2.8 Setting the chopper mode The SIXpack 2 supports “Mixed Decay” which provides reduced motor resonance at medium velocities and improved microstep exactness. This mode can be switched off by the DIP-switches if desired. Chopper Scheme... -
Page 14: Connector Specifications
SIXpack 2 – Manual (V1.10 / January 29 , 2010) A_ln(analog input 0...5V) Refln (reference input, 10k intern pullup resistor, 5V level, 2.5V threshold with hysteresis) Vcc (5V, 15mA, 33 Ohm) Ground (for A_ln, Refln) Phase B, Connector 2 Phase B, Connector 1... -
Page 15: Start-Up With Software Sqpack
“Commands” the line “$43: Get Unit Information”. If the connection settings are done correctly it is possible to click the button “Send” at the bottom of the window to transfer the command to the SIXpack 2. If a connection is established the values for “Firmware Revision”, “Reset Flag”, “Temperature”... -
Page 16: Macro Functions Of Sqpack
Most applications with stepper motors need a reference point to acquire the actual position of the motor. The reference point of each axis is detected by the SIXpack 2 with a reference search. The positions scaling determined by type of the application. It is a linear axis if the motor moves a mechanic with defined end and start point. -
Page 17: Types Of Reference Point Definitions
At start point or end point a stopper for the mechanic of the axis is build in. At reference search the SIXpack 2 moves the respective axis in direction of the stopper (defined by the flag MT_NULLLEFT, SQPack- tab: “Reference search”, CMD $15) for a distance of Poslimit * 5/4. The multiplication with 5/4 causes the SIXpack 2 to reach the stopper before end of the reference search. -
Page 18: Reference Search Software Configuration
SIXpack 2 – Manual (V1.10 / January 29 , 2010) 5.5.2.2 Wiring with stop-switches To prevent driving beyond the ends of a linear axis stop-switches can be used. They are connected to pin „A_In“ of the motor connector. Again, openers should be used as stop-switches for the reason mentioned above. -
Page 19: Known Issues
Flag MT_MECHREF. The value range of the axis is specified in Poslimit. The SIXpack 2 evaluates with this value the length of the reference search (5/4 * Poslimit). MT_NULLLEFT defines the direction of the reference stopper. It is on the left side of the axis for NullLeft = 1. -
Page 20: Basic Configurations For Operation
(refer to 5.2.7) the motor current can be adjusted more precisely using a software setting (refer to 6.2.1.2). First, the (maximum) current requirement of the motors has to be determined. Please refer to the motors’ datasheet. Commonly the motor data sheet specifies the full step current setting. To match this with the SIXpack 2, a current of 1.4 times the motor’s peak current is possible. -
Page 21: Full Functionality
After receiving the first valid instruction via CAN, control via RS 232 or RS 485 will be terminated. The CAN response address is transferred to SIXpack 2 in a 8 bit format, like at RS 232 / 485. For responding the address is shifted to the left by 3 bits, resulting in the same address range as defined above. -
Page 22: Rs 232-Remote Control Via Can-Interface
Incorrect messages will be ignored now. If the configurable RS 232-timeout has expired, remaining bytes will be sent ( see CMD $41). Programming The concept programming the SIXpack 2 is based on dataset of a fixed length. To allow networks the datasets have to contain the SIXpack 2 address. -
Page 23: Hints For Programming
SIXpack 2 – Manual (V1.10 / January 29 , 2010) The commands dataset itself contains a command byte and seven bytes to transfer parameters. The bytes have to be transmitted even if they contain no data. Figure 6.2: Command dataset 6.2.1 Hints for Programming... - Page 24 6.2.1.7 Interlacing of Requests Requests must not be interlaced. Each request should wait for the response of the SIXpack 2 before transmitting a new command. However a delayed response with RS 232 may be outstanding in parallel.
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Page 25: Examples
All other values are set to 0, i.e. the functions are disabled. 6.2.2 Examples Attention: All 9 Bytes must be sent to the interface, otherwise the SIXpack 2 does not recognize the command and waits for the missing bytes. $ indicates that the value is in hexadecimal notation! 6.2.2.1 Setting motor parameters... - Page 26 SIXpack 2 – Manual (V1.10 / January 29 , 2010) 6.2.2.2 Navigating the motor CMD $23 prompts the concerned motor to drive to the position, which stands in P1 ... P4. Pseudocode: sendToPack(address); // Address of the SIXpack2 sendToPack($23); // Command for starting a trapezoidal Ramp sendToPack(motno);...
- Page 27 SIXpack 2 – Manual (V1.10 / January 29 , 2010) 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.
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Page 28: Adjusting Sixpack 2 To Motors Micro Step Characteristics
6.3.1 Calculation of micro step frequency The SIXpack 2 operates with a fixed micro step frequency of 16 micro steps every full step. The programming positions are specified in micro steps in relation to zero. Following formula calculates the given motors micro steps for a whole rotation: Number of micro steps / rotation = 360°... -
Page 29: Adapting The Microstep-Table To The Motor Characteristics
SIXpack 2 – Manual (V1.10 / January 29 , 2010) 6.3.2 Adapting the microstep-table to the motor characteristics up to 16 micro steps 1 full step alternative motor characteristics (s. CMD $17) Most motors have varying microstep lengths, due to this the motor would drive discontinuously for a sin -/ cos - current. -
Page 30: Automatic Reference Search
, 2010) 6.4.4 Automatic reference search The SIXpack 2 provides the possibility to start an automatic reference search at identified lost of steps. To activate this function set the Flag MT_TESTNULL (command SetMotorParameters, CMD $15). The intern position counter will be compared with the status of the reference switch. -
Page 31: Aborting Reference Search
“security margin”. The value set with the command SetMargin, CMD $1A, SQPack-tab “Reference search”, defines the number of steps the SIXpack 2 runs into the reference switch (see Figure 6.3 also). Figure 6.4: Adjustments for reference switch function... -
Page 32: Commands For Axis Movements
, 2010) Commands for axis movements The SIXpack 2 provides different possibilities to move the axis. Which one to choose is related to the demands of the application. Basically there is the possibility to move the motor on the axis from a to b (ramps run) or with a fixed velocity (rotation) until the next velocity command. -
Page 33: Starting Linear Interpolation Of Multiple Axis
If the flag MT_OPTIMIZEWAY = 1 (command SetMotorParameters) is set the SIXpack 2 chooses the shortest way to get to the target position from the starting position. -
Page 34: Control Of Motor Current
SIXpack 2 – Manual (V1.10 / January 29 , 2010) Control of motor current To provide an always sufficient torque or holding torque with the lowest use of power an individual configuration of the motor currents is possible. The maximum coil current IMax is set with the command SetMaxCurrent (CMD $10). Please check the DIP-switches of the SIXpack 2, also (refer to 5.2.7). -
Page 35: Default Values
SIXpack 2 – Manual (V1.10 / January 29 , 2010) Default values For testing purposes here is a list of default values for motor parameters: clkdiv=5; div=2; // 26 kHz microstep-frequency vstart=5; // starting with 254 Hz (should be >=8) amax=128;... -
Page 36: Instruction Set
SIXpack 2 – Manual (V1.10 / January 29 , 2010) 7 Instruction Set The instruction code is listed in hexadecimal notation, prefixed with $-sign. “motno“ substitutes the number of the motor (0=motorno.1 ... 5=motorno.6). Parameters with more than 1 byte are to be transmitted with the least significant byte (bit 0 –... -
Page 37: Velocity, Acceleration
SIXpack 2 – Manual (V1.10 / January 29 , 2010) Velocity, Acceleration (amax and vmax are checked permanentely, the Pack promptly reacts to changes) 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 accelerated until vmax has been reached. -
Page 38: Motor Parameters
SIXpack 2 – Manual (V1.10 / January 29 , 2010) Motor Parameters Note on the reference search algorithm: Usually the reference switch is logically left, i.e. search orientation is in the direction of descending co-ordinates. However if it is defined as logically right (NullLeft not set) then the driving range is in the area of negative numbers because zero is the largest number on the position scale. -
Page 39: Reference Search Parameters
SIXpack 2 – Manual (V1.10 / January 29 , 2010) Reference Search Parameters (change only with motors standing still) Note: Only relevant for fast reference search! 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) -
Page 40: Driving Ramps
SIXpack 2 – Manual (V1.10 / January 29 , 2010) Driving Ramps Query Position and Activity motno (0...5) response address response motno (0...5) P1,2,3,4 # posact (signed long): current position Current action (0: inactive, 5: ramp, 10: PI-controller, 15: rotation, 20 – 29: reference switch search, 30: mechanical reference) bit 0: stop-status. -
Page 41: Start Trapezoidal Ramp
SIXpack 2 – Manual (V1.10 / January 29 , 2010) 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. -
Page 42: Set Actual Position
SIXpack 2 – Manual (V1.10 / January 29 , 2010) Set actual Position Forces the internal position counter to any position. Can lead to unintended reference searches at detection of zero switches. motno (0...5) P1,2,3,4 # posact: new actual position (32 bit signed long) Query all Motor Activities, Request delayed Response Each axis can be queried for activity with this command. -
Page 43: Additional Inputs / Outputs
SIXpack 2 – Manual (V1.10 / January 29 , 2010) 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. -
Page 44: Other Settings
SIXpack 2 – Manual (V1.10 / January 29 , 2010) Other Settings Adjust RS 232 / RS 485 Baud rate P0,P1 # baud rate divisor (16 bit): baud rate divisor=20MHz/ (16*baud rate) P2,P3 # transmitter switch on/off delay time in increments of 2ms (1..1000) -
Page 45: Multi-Dimensional Movement
SIXpack 2 – Manual (V1.10 / January 29 , 2010) 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. -
Page 46: Write Eeprom
SIXpack 2 – Manual (V1.10 / January 29 , 2010) Write EEPROM address for response P1,2 Magic Code 2 P3,P4 address P5,P6 value response 1=writing successful Read EEPROM address for response P1,2 Magic Code 2 P3,P4 address P5,P6 value response... -
Page 47: Instruction Table
SIXpack 2 – Manual (V1.10 / January 29 , 2010) 8 Instruction table Peak current ..................................36 Current control ..................................36 Velocity setting ..................................36 Starting velocity ................................... 36 Velocity, Acceleration ................................. 37 Motor Parameters ................................38 Reference Search Parameters ............................39 Write motor characteristics Table .......................... -
Page 48: Declaration Of Conformity
SIXpack 2 – Manual (V1.10 / January 29 , 2010) 9 Declaration of Conformity Declaration of Conformity SIXpack 2 6-Axis stepper motor controller / driver module Manufacturer TRINAMIC Motion Control GmbH & Co. KG Sternstraße 67 D – 20357 Hamburg Germany www.trinamic.com... -
Page 49: Test Reports
SIXpack 2 – Manual (V1.10 / January 29 , 2010) 10 Test Reports... -
Page 50: Revision History
SIXpack 2 – Manual (V1.10 / January 29 , 2010) 11 Revision History Version Comment Author Description 1.06 21-Feb-2007 Revision History added, Min supply voltage corrected to 13V, max. current depends on DIP switches (in 7.1 – Peak current) 1.07 20-Jun-2007 Figure 5.9, Figure 5.10 in line resistor not optional.
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