RMS Technologies 4-AXIS CONTROLLER/DRIVER - Manual (Page 30)

30 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
⇒ Power-Down modus
(Version 1.46 and since Version 1.49)
These versions store the actual motor positions as soon as the power supply goes below 13V, if
enabled. The motors are stopped, as soon as undervoltage is detected. Thus the devices should not
be operated below 15V under normal conditions.
The power down state is independent of bit 2 as well observed as set back with bit 3. The power
down state which is read also is independent of the stop & save-activation set via bit 2.
CMD $45
P0 response address
P1 • Bit 0: 1 = Read positions from EEprom, and copy them to the motor position
registers, if they contain valid values
• Bit 1: 1 = set positions in EEprom as invalid
• Bit 2: 1 = activate Power down (stop motors & autosave position on undervoltage)
• Bit 3: 1 = Reset powerdown state and re-enable the motors (only possible while
the supply is above the power down level)
Response
CMD $45
P0
• Bit 0: 1 = loaded valid position from EEprom
• Bit 1: 1 = located valid position in EEprom
• Bit 2: 1 = Power down – status before Command
• Bit 3: 1 = Power down – status after Command
⇒ Complete Hardware Reset
CMD $CC
P0 HW-Reset
Attention: All configured parameters will be replaced by the default parameters
This command needs about 1 second.
Note: The RS232 usually receives a 0-byte during execution.
8.7 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. The axis, which, regarding its position distance, is the
fastest, will be automatically used as a master. In regard of its distance this axis will be driven with
the lowest acceleration. To determine if the target position has been reached, all involved motors
have to be queried.
CMD $50
P0 mask for motors (bit 0=motor 0, bit 5=motor 5)
(0: motor unused, 1: motor used in multi-dimension motion)