RMS Technologies 4-AXIS CONTROLLER/DRIVER - Manual (Page 16)

16 S I X P A C K / Q U A D P A C K
Trinamic Motion Control GmbH & Co KG
Sternstraße 67
D – 20357 Hamburg, Germany
Phone +49-40-51 48 06 - 0
FAX: +49-40-51 48 06 - 60
http://www.trinamic.com
• The reference switch defines the zero position. The zero position can be moved further into the
switch using the nulloffset setting. If testnullbit is set it must be active at the end of T0 and the delay
time of the filter.
• Activation of the switch is only allowed in the testnullrange to testnull around the zero position. If you
reference to the edge of the switch and never exceed the zero position 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 motors.
• The reference search requires proper poslimit (0..0x7FFFFFFF) settings! For cyclic axis you must set
poslimit to the number of microsteps per revolution, for linear axis it should cover at least your whole
intended driving range to avoid unintended or interrupted reference drives.
⇒ Problems with fast Search for Reference
The fast search for reference will function properly only if CMD $15 and $16 are set correctly, especially
those for the reference switch. Also is it sensitive to noise pulses in the wiring of the reference switch –
should the fast reference search stop abruptly, anti-noise measures have to be taken for the reference
switch input.
⇒ Interlacing of Requests
Requests must not be interlaced. Each request should wait for the response of the PACK before
transmitting a new command. However a delayed response with RS 232 may be outstanding in parallel.
⇒ 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; vmax=511; // increments v by 128/16=8 each 2 ms
vmin=4; vrefmax=100; // 102 Hz / 5086 Hz for reference drive
poslimit=400*16;
// 400 full- = 6400 microsteps/revolution
testnullrange=15*16; // ignore switch in range –240 ... 240
Peak current=128;
// 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 accelerat. motors with 400 mA
motortype= Delayedtest0 | NullCenter | Filterswitch | FastRef;
De-bounce mask=$0FFF;
// Filter delay 12-1 cycles = 22 ms
Readymask=$3F; // check any active motor
Refer.-Readymask=$3F; // check any referencing motor
propdiv=8;
// v = position-difference / 8
intdiv=129; // v += pos-difference integral / 129
intclip=129; // clip pos-difference integrals > 129
intinpclip=1; // integrate pos-difference of max. 1
All other values are set to 0, i.e. the functions are disabled.