Rms-technologies 4-AXIS CONTROLLER/DRIVER Manuel d'utilisateur

S I X P A C K / Q U A D P A C K Manual Version: 2.43 October 15th, 2004 GmbH & Co KG Ster

10 S I X P A C K / Q U A D P A C K Trinamic Motion Control GmbH & Co KGSternstraße 67 D – 20357 Hamburg, Germany Phone +49-40-51 48 06 - 0 FA

S I X P A C K / Q U A D P A C K 11 5 S Y S T E M S T A R T U P 5.1 System Start Up / Notes When the PACK is supplied with power it run

12 S I X P A C K / Q U A D P A C K Trinamic Motion Control GmbH & Co KGSternstraße 67 D – 20357 Hamburg, Germany Phone +49-40-51 48 06 - 0 FA

S I X P A C K / Q U A D P A C K 13 6 C O N T R O L 6.1 Control via RS 485 or RS 232-Interface The RS 485 interface is a bi-directional 2-wi

14 S I X P A C K / Q U A D P A C K Trinamic Motion Control GmbH & Co KGSternstraße 67 D – 20357 Hamburg, Germany Phone +49-40-51 48 06 - 0 FA

S I X P A C K / Q U A D P A C K 15 7 P R O G R A M M I N G 7.1 Hints for Programming ⇒ Strategy for Parameter Setting The Pack can be para

16 S I X P A C K / Q U A D P A C K Trinamic Motion Control GmbH & Co KGSternstraße 67 D – 20357 Hamburg, Germany Phone +49-40-51 48 06 - 0 FA

S I X P A C K / Q U A D P A C K 17 7.2 Examples Attention: All 9 Bytes must be sent to the interface, otherwise the PACK does not recognize

18 S I X P A C K / Q U A D P A C K Trinamic Motion Control GmbH & Co KGSternstraße 67 D – 20357 Hamburg, Germany Phone +49-40-51 48 06 - 0 FA

S I X P A C K / Q U A D P A C K 19 ⇒ Starting a two axis interpolated movement Linear motions with multiple axes can be driven. For this, th

2 S I X P A C K / Q U A D P A C K Trinamic Motion Control GmbH & Co KGSternstraße 67 D – 20357 Hamburg, Germany Phone +49-40-51 48 06 - 0 FAX

20 S I X P A C K / Q U A D P A C K Trinamic Motion Control GmbH & Co KGSternstraße 67 D – 20357 Hamburg, Germany Phone +49-40-51 48 06 - 0 FA

S I X P A C K / Q U A D P A C K 21 8.3 Setting motor parameters 16 bit or 32 bit parameters, marked with “#”, are transferred with least si

22 S I X P A C K / Q U A D P A C K Trinamic Motion Control GmbH & Co KGSternstraße 67 D – 20357 Hamburg, Germany Phone +49-40-51 48 06 - 0 FA

S I X P A C K / Q U A D P A C K 23 ⇒ Motor Parameters Note on the reference search algorithm: Usually the reference switch is logically left,

24 S I X P A C K / Q U A D P A C K Trinamic Motion Control GmbH & Co KGSternstraße 67 D – 20357 Hamburg, Germany Phone +49-40-51 48 06 - 0 FA

S I X P A C K / Q U A D P A C K 25 8.4 Driving Ramps ⇒ Query Position and Activity CMD $20 P0 motnr (0...5) P1 response address response C

26 S I X P A C K / Q U A D P A C K Trinamic Motion Control GmbH & Co KGSternstraße 67 D – 20357 Hamburg, Germany Phone +49-40-51 48 06 - 0 FA

S I X P A C K / Q U A D P A C K 27 ⇒ Query all Motor Activities, Request delayed Response Each axis can be queried for activity with this com

28 S I X P A C K / Q U A D P A C K Trinamic Motion Control GmbH & Co KGSternstraße 67 D – 20357 Hamburg, Germany Phone +49-40-51 48 06 - 0 FA

S I X P A C K / Q U A D P A C K 29 ⇒ Function of the ready Output The ready output can be activated (low, open collector), whenever a motor i

S I X P A C K / Q U A D P A C K 3 Table of Contents: 1 B R I E F D E S C R I P T I O N ...

30 S I X P A C K / Q U A D P A C K Trinamic Motion Control GmbH & Co KGSternstraße 67 D – 20357 Hamburg, Germany Phone +49-40-51 48 06 - 0 FA

S I X P A C K / Q U A D P A C K 31 8.8 Service-Functions These functions are not intended for the user and when used improperly the unit can b

32 S I X P A C K / Q U A D P A C K Trinamic Motion Control GmbH & Co KGSternstraße 67 D – 20357 Hamburg, Germany Phone +49-40-51 48 06 - 0 FA

S I X P A C K / Q U A D P A C K 33 9 I n s t r u c t i o n t a b l e $10 $11 $12 $13 $14 $15 $16 $17 $18 $19 $20 $21 $22 $23 $24 $25 $2

4 S I X P A C K / Q U A D P A C K Trinamic Motion Control GmbH & Co KGSternstraße 67 D – 20357 Hamburg, Germany Phone +49-40-51 48 06 - 0 FAX

S I X P A C K / Q U A D P A C K 5 3 T E S T R E P O R T S

6 S I X P A C K / Q U A D P A C K Trinamic Motion Control GmbH & Co KGSternstraße 67 D – 20357 Hamburg, Germany Phone +49-40-51 48 06 - 0 FAX

S I X P A C K / Q U A D P A C K 7 4 C O N N E C T O R A S S I G N M E N T • Motor Connectors: • Attention: wrong pinning leads to damage

8 S I X P A C K / Q U A D P A C K Trinamic Motion Control GmbH & Co KGSternstraße 67 D – 20357 Hamburg, Germany Phone +49-40-51 48 06 - 0 FAX

S I X P A C K / Q U A D P A C K 9 • Power Supply Connector, RS485 RS 232-DSUB-9M and CAN-DSUB-9F RS485-RS485+GNDRS485-RS485+GNDVcc (+15..40