Manual

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

⇒ 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

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