RMS Technologies 4-AXIS CONTROLLER/DRIVER - Manual (Page 21)

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 significant byte
(Bit 0 – 7) first.
⇒ Peak current
(settings are done for pairs of motors, i.e. each two motors 0 + 1, 2 + 3 respectively 4 + 5 have the
same peak current. Only the values set for motor-numbers 0,2 and 4 are valid.)
CMD $10
P0 motnr (0...5)
P1 value (0..255):Sixpack: Imax=0,8A * value/256
Quadpack Imax=1,5A * value/256 * DIPsetting (0%, 33%, 66%, 100%)
⇒ Current control
Note for energy saving: Power consumption can be reduced drastically when power-down current
(I0) is set to 0%, i.e. P1=8 for all (unused) motors.
CMD $11
P0 motnr (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 for acceleration (s.a.)
P5,6 # T0(*): (1..65535): power down-delay time in increments of 2 ms
(Firmware before v1.40 required even values!)
(*) Note: T0 is also needed in CMD $15.
⇒ Velocity setting
(global setting for all motors, change only with stopped motors!)
CMD $12
P0 clkdiv (0..31): s. calculation of step frequency (default: clkdiv=5)
⇒ Starting velocity
(change only with stopped motors!)
CMD $13
P0 motnr (0...5)
P1,2 # vmin (0..511): velocity used in combination with div
i
=3 for searching of the reference-
switch. The fastest possible vmin will be calculated automatically when vmin=0 is set.
vmin <= 250Hz / fminsteps
vmin <= vstart
(fminsteps is the microstep frequency when velocity = 1 and div
i
=3 is choosen)
P3,4 # vstart (1..511):
starting and ending velocity for acceleration ramp. Limited by firmware to
0 < vstart < ( 512 shr(3-div[i]))-1 (e.g. div[i]=2 -> 0 < vstart < 256)
P5 div
i
(0..3): s. calculation of step frequency (default: div
i
=2)