RMS Technologies 4-AXIS CONTROLLER/DRIVER - Manual (Page 24)

24 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
⇒ Reference Search Parameters
(change only with motors standing still)
Note: Only relevant for fast reference search!
CMD $16
P0 motnr (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)
P5 # Bit0: 1=Stop after reference search, 0=continue actual action after reference search
⇒ Write motor characteristics Table
Depending on the position the motors are controlled with discrete analogue current values. The lower
5 bits of the position counter of each motor are used as a pointer into the symmetrical characteristics
table and determine the current for coil A of the motor. The current for coil B is determined from the
same table by a pointer shifted by 16 steps. For customizing the table can be modified for all motors
in common. Therefore only the lower half (16 entries) has to be programmed.
Default-table: 255 * SIN([0.5..15.5]/32*PI)
CMD $17
P0 pointer to the table (start = 0,4,8 or 12)
P1..P4 # 4 table entries (0..255) starting from the given position
(e.g. table=255, 255, ..., 255 -> full step)
⇒ Null Point-Offset and -Range
The null point-offset allows to compensate for the tolerance of the reference switch of linear drives.
When used, the reference search will drive further into the null point and the null point is set there.
This especially is important, when the zero point check is enabled (TestNull, s.a.). If at the same time
testing for premature interrupt of reference switch is enabled (StopNull, s.o.) a small area around the
zero point can be excepted from the test via the parameter testnullrange. Outside this area the
reference switch triggers an emergency stop and reference search, when the motor is driving into the
direction of the reference point. The offset also can be used to shift the null-point farther to the middle
of a linear axis.
CMD $18
P0 motnr (0...5)
P1,2,3,4 # nulloffset (signed long): distance between zero point and reference switch
P5,6 # testnullrange (0..65535): range where zero switch may be active
⇒ PI-Parameter
The PI-controller allows to generate a velocity profile by continuously giving new target positions via
the host computer. The factors for the integral and proportional part determine the feedback-control
characteristics. The controller works at 500Hz. The proportional part is
64 * position difference / propdiv. The integral part integrates the part of the position difference
clipped to a maximum limit by intinpclip. The influence of the integral part is determined by the divisor
intdiv.
CMD $19
P0 motnr (0...5)
P1 propdiv (1..255)
P2,3 # intdiv (1..32767)
P4,5 # intclip (1..32767)
P6 intinpclip (0..255)