RMS Technologies 4-AXIS CONTROLLER/DRIVER - Manual (Page 18)

18 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
⇒ Navigating the motor
CMD $23 prompts the concerned motor to drive to the position, which stands in P1 ... P4.
Pseudocode:
sendToPack(address);
// Address of the PACKs
sendToPack($23); // Command for starting a trapezoidal Ramp
sendToPack(motnr); // Number of the concerned motor (0...5)
sendToPack(destinationLSB); // Least significant Byte of the target position
sendToPack(destination3rdSB);
sendToPack(destination2ndSB);
sendToPack(destinationMSB);
// Most significant Byte
sendToPack(0); // fill 9 bytes
sendToPack(0); // fill 9 bytes
⇒ Inquiring the actual position of a motor
CMD $20 returns the 4-byte value with the actual position and status of the concerned motor. In addition
P6 specifies whether a stop-switch was active. This is e.g. when the motor has lost steps and if during
driving back to the real null-point the switch is found too early.
Pseudocode:
sendToPack(address);
// Address of the PACKs
sendToPack($20); // Command for inquiring actual position and action of one motor
sendToPack(motnr); // Number of the concerned motor (0...5)
sendToPack(receiver); // address of the receiver
sendToPack(0); // fill 9 bytes
sendToPack(0); // fill 9 bytes
sendToPack(0); // fill 9 bytes
sendToPack(0); // fill 9 bytes
sendToPack(0); // fill 9 bytes
cmd = receiveFromPack();
// should be $20
motnr = receiveFromPack(); // should be the same number as the sent
posakt_byte1 = receiveFromPack(); // LSB of the actual Position
posakt_byte2 = receiveFromPack();
posakt_byte3 = receiveFromPack();
posakt_byte4 = receiveFromPack();
// MSB of the actual Position
act_action = receiveFromPack(); // Information about the actual action of the motor
stop = receiveFromPack(); // is 1 when null-switch is active