Trinamic MONOPACK 2 User manual

MONOPACK 2
Manual
Version: 1.04
Jan 29th, 2010
Trinamic Motion Control GmbH & Co KG
Sternstraße 67
D - 20357 Hamburg, Germany
http://www.trinamic.com

Monopack 2 Manual V1.04 2
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
Version
Version
Date
Author
Remarks
1.00
2-Nov-05
OK
Initial version
1.01
18-Aug-06
HC
Added firmware update information
1.01
21-Aug-06
BD
Added Monopack LT frequency incompatibility information
1.02
16-May-2007
HC
Added Mixed Decay information (chapter 4.2.5)
1.03
15-Feb-08
GE
Added V2.0 info
1.04
29-Jan-10
OK
Declaration of Conformity added
Table of Contents
1Introduction ................................................................................................................................................................... 5
1.1 Brief Description.................................................................................................................................................. 5
1.2 Technical Data ...................................................................................................................................................... 5
2Connecting the Monopack 2 ..................................................................................................................................... 6
2.1 Pin Assignments.................................................................................................................................................. 6
2.2 Connecting the Motor........................................................................................................................................ 6
2.3 Stop Switches and Reference Switches........................................................................................................ 7
2.3.1 Linear vs. Circular Drives ........................................................................................................................ 7
2.4 Incremental Encoder .......................................................................................................................................... 7
2.5 Power Supply ....................................................................................................................................................... 7
2.6 The RS232 interface ............................................................................................................................................ 7
2.7 The 25 pin Sub-D Socket................................................................................................................................... 8
2.7.1 CAN and RS485 Interface........................................................................................................................ 8
2.7.2 The Step/Direction Interface.................................................................................................................. 8
2.7.3 The Alarm Input........................................................................................................................................ 8
2.7.4 The Alarm Output ..................................................................................................................................... 8
2.7.5 The Incremental Encoder Output......................................................................................................... 8
2.7.6 The Stop Switch Outputs ....................................................................................................................... 8
2.8 The Step/Direction input socket...................................................................................................................... 9
2.9 The hexadecimal Switch.................................................................................................................................... 9
2.10 The DIP switches ................................................................................................................................................ 9
3Controlling the Monopack 2....................................................................................................................................10
3.1 Step/Direction Mode .........................................................................................................................................10
3.2 Binary Command Mode...................................................................................................................................10
3.2.1 Format of the Data Telegrams............................................................................................................10
3.2.2 Unit Addresses.........................................................................................................................................10
3.2.3 Parameter Storage..................................................................................................................................10
3.3 Monopack LT (ASCII) Command Mode .......................................................................................................11
4Binary Command Reference ....................................................................................................................................12
4.1 Parameter Storage Control.............................................................................................................................12
4.2 Motor Parameters..............................................................................................................................................12
4.2.1 Current Limit ($10)..................................................................................................................................12
4.2.2 Current Control ($11) .............................................................................................................................12
4.2.3 Get Current Control Settings ($53) ....................................................................................................13
4.2.4 Frequency Range ($12)..........................................................................................................................13
4.2.5 Microstep Resolution, Waveform and Mixed Decay ($17)...........................................................13
4.3 Driving..................................................................................................................................................................14
4.3.1 About the Parameters ...........................................................................................................................14
4.3.2 Velocity and Maximum Acceleration ($14) ......................................................................................14
4.3.3 Bow Value ($63) ......................................................................................................................................15
4.3.4 Get Acceleration and Velocity Settings ($52) .................................................................................15

Monopack 2 Manual V1.04 3
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
4.3.5 Get actual Position ($20) ......................................................................................................................15
4.3.6 Get actual Acceleration and Velocity ($21)...................................................................................... 15
4.3.7 Drive a Ramp ($23).................................................................................................................................16
4.3.8 Constant Rotation ($25) ........................................................................................................................16
4.3.9 Reset Position ($27) ...............................................................................................................................16
4.3.10 Soft Stop ($2A) ........................................................................................................................................16
4.3.11 Emergency Stop ($2B) ...........................................................................................................................16
4.4 Stop and Reference Switches ........................................................................................................................17
4.4.1 Switch Mode ($54)..................................................................................................................................17
4.4.2 Deceleration at Stop Switches ($57) .................................................................................................17
4.4.3 Reference Search ($22)..........................................................................................................................17
4.4.4 Reference Search Velocity ($16)..........................................................................................................18
4.4.5 Travel Check Tolerance ($59)...............................................................................................................18
4.4.6 Number of Microsteps per Revolution ($15)...................................................................................18
4.4.7 Get the State of the Stop Switches ($30)........................................................................................18
4.5 Incremental Encoder ........................................................................................................................................19
4.5.1 About Incremental Encoders...............................................................................................................19
4.5.2 Encoder Configuration ($70)................................................................................................................19
4.5.3 Encoder Counter ($71)...........................................................................................................................20
4.5.4 Encoder Holding Register ($72) ..........................................................................................................20
4.5.5 Deviation Alarm ($73)............................................................................................................................20
4.5.6 Configure Automatic Position Correction ($58) .............................................................................20
4.5.7 PID Controller Configuration ($6A, $6B, $6C, $6D, $6F) ..............................................................21
4.6 Alarms and Errors .............................................................................................................................................22
4.6.1 Alarm Mode ($51) ...................................................................................................................................22
4.6.2 Reset Alarm Output ($74) .....................................................................................................................22
4.7 Other Settings ....................................................................................................................................................22
4.7.1 Enter Step/Direction Mode ($50) ........................................................................................................22
4.7.2 Set CAN receive ID and RS485 ID ($55) ...........................................................................................22
4.7.3 Set CAN send ID ($56)...........................................................................................................................23
4.7.4 Set CAN Baud Rate ($C0) ......................................................................................................................23
4.7.5 Get Version Number ($43)....................................................................................................................23
4.7.6 Hardware Reset ($CC) ............................................................................................................................ 23
4.8 Factory Default Settings ($DD) ......................................................................................................................23
5Monopack LT Command Reference .......................................................................................................................24
5.1 Interface selection ............................................................................................................................................24
5.2 Command overview .........................................................................................................................................24
5.2.1 Set the pre-divider.................................................................................................................................. 25
5.2.2 Set microstep resolution ......................................................................................................................25
5.2.3 Acceleration setting ...............................................................................................................................25
5.2.4 Bow setting ..............................................................................................................................................25
5.2.5 Velocity setting........................................................................................................................................25
5.2.6 Direction setting .....................................................................................................................................25
5.2.7 Drive with fixed velocity ......................................................................................................................25
5.2.8 Soft stop....................................................................................................................................................25
5.2.9 Hard stop ..................................................................................................................................................26
5.2.10 Set target position or relative distance ...........................................................................................26
5.2.11 Drive to target position ........................................................................................................................26
5.2.12 Relative move ..........................................................................................................................................26
5.2.13 Set motor standby current...................................................................................................................26
5.2.14 Set motor run current ...........................................................................................................................26
5.2.15 Set motor acceleration current...........................................................................................................26
5.2.16 Set mixed decay mode .........................................................................................................................27
5.2.17 Automatic reference search .................................................................................................................27
5.2.18 Find reference switch position...........................................................................................................27
5.2.19 Set stop switch mode ...........................................................................................................................27
5.2.20 Change actual position .........................................................................................................................27
5.2.21 Query actual position ............................................................................................................................27

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Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
5.2.22 Query actual velocity .............................................................................................................................28
5.2.23 Query status of stop switches............................................................................................................28
5.2.24 Query TMC453 FIFO filling....................................................................................................................28
5.2.25 Step/Direction mode selection ...........................................................................................................28
5.2.26 Display actual ADC values....................................................................................................................28
5.2.27 Write all parameters to the EEPROM ................................................................................................28
5.2.28 Enable or disable the EEPROM............................................................................................................28
5.2.29 Choose interface and set RS485 delay ............................................................................................. 28
5.2.30 Set the RS485 address...........................................................................................................................29
5.3 Help screen .........................................................................................................................................................29
5.4 Messages sent by the device......................................................................................................................... 29
6The Monopack PC Software.....................................................................................................................................30
6.1 Using the Program............................................................................................................................................30
6.2 Firmware update / Reset to factory default ..............................................................................................30
7Application Notes ....................................................................................................................................................... 31
7.1 Making a simple RS232 to RS485 Converter .............................................................................................31
7.2 Setting the Maximum Current .......................................................................................................................31
7.3 Using the “ic485-I” RS232 to RS485 Converter .........................................................................................32
7.4 Choosing Plugs for the Monopack...............................................................................................................32
8Declaration of Conformity .......................................................................................................................................33
TRINAMIC Motion Control GmbH & Co. KG does not authorize or warrant any of its products for use in life support
systems, without the specific written consent of TRINAMIC Motion Control GmbH & Co. KG.
Life support systems are equipment intended to support or sustain life, and whose failure to perform, when
properly used in accordance with instructions provided, can be reasonably expected to result in personal injury or
death.
Trinamic Motion Control GmbH & Co KG, Germany 2005
All rights reserved. No part of the contents of this book may be reproduced or transmitted in any form or by any
means without the written permission of the publisher. Information given in this data-sheet is believed to be
accurate and reliable. However no responsibility is assumed for the consequences of its use nor for any
infringement of patents or other rights of third parties which may result from its use. Specifications are subject to
change without notice.

Monopack 2 Manual V1.04 5
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
1Introduction
1.1 Brief Description
The Monopack 2 is an intelligent easy-to-use stepper motor driver for two-phase bipolar stepper motors with up to
5A coil current. It comes in a small and robust housing and provides a high motor power and dynamics. It can be
controlled via CAN bus, an RS485, RS232 or a Step/Direction interface and provides the functionality for either
remote controlled or stand alone applications. Its optional encoder feedback and a number of protection features
makes this drives very dependant and reliable. The Monopack 2 can do up to 406 microsteps and needs a power
supply of 12-48 Volts.
A Windows 95/98/ME/NT/2000/XP based PC software is supplied to explore the possibilities of the Monopack 2. To
use this software, the Monopack just has to be connected to the PC via its RS232 interface.
The Monopack 2 replaces the Trinamic products “Monopack” and “Monopack LT” which have been discontinued. It
is fully compatible with the Monopack and offers most features of the Monopack LT. A DIP switch allows to select
either “Monopack” or “Monopack LT” mode. Also the maximum motor current can be either 2.5A like in the old
Monopack and Monopack LT or, in the extended mode, 5A. This can also be selected by a DIP switch. From version
V2.0 on the Monopack 2 is RoHS conform.
1.2 Technical Data
Features and operational ratings
Ramp profile
S-curve, controlled by a TMC 453
Step type
Microstepping resolution from 1 to 64 or 100.8, 202.125 or 406.5
Power supply
12V - 48 V DC
Motor current
Maximum 5A peak coil current in extended mode or 2.5A in compatible mode
Motor type
Bipolar 2-phase stepper motor
Encoder type
Two channel incremental encoder with optional zero channel and 5V outputs
Inputs
Two stop switches (left and right), one reference switch, one differential alarm
input
Outputs
One differential alarm output, one differential encoder output (channel A, B and
Null)
Temperature range
0-70°C
Dimensions
132mm x 130mm x 45mm (without plugs)
Electrical data of the stop switch, reference switch and encoder inputs
Integrated pull up resistor
10k to internal +5V
Logic level low
0.0V..+1.3V
Logic level high
+3.3V..+5.0V
Continus protection voltage
-8V..+13V
Short time protection voltage
-24V..+24V
Electrical data of the differential inputs:
Common-mode input voltage
-7V to +12V
Differential input voltage
±6V
Electrical data of the differential outputs:
Differential output voltage
1.7V
Interfaces
RS232
9600 or 19200 baud, 8 data bits, 1 stop bit, no parity bit
Rs485
9600 or 19200 baud, 8 data bits, 1 stop bit, no parity bit, 100 Ohms termination
selectable
CAN
CAN 2.0B, 125, 250, 500 kbit/s or 1Mbit/s, 100 Ohms termination selectable
Step-/ Direction
Differential interface

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Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
2Connecting the Monopack 2
2.1 Pin Assignments
The connectors of the Monopack 2 and their pin assignments are shown in Figure 2.1.
Max 45VDC
+ -
Address
CAN/
RS485
8 1
MONOPACK 2
CAN/RS485 Termination
ON = RS485 ON = RS485
ON = CAN ON = CAN
ON
OFF
ON = Monopack LT mode
ON = Upgrade firmware
OFF= max. 2.5A,
ON=max. 5A
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14 25
CANL/RS485-
CANH/RS485+
EnCHB-
EnCHB+
StopL-
StopL+
AlarmIN-
AlarmIN+
MC1-
MC1+
DIR-
DIR+
GND
EnCHN-
EnCHN+ EnCHA-
EnCHA+
StopR-
StopR+
AlarmOUT-
AlarmOUT+
MC0-
MC0+
STEP-
STEP+
Encoder
+5V A B N GND
SYNC
IN Stop Switch R GND L GND
Motor max. 3A
A1 A2 B1 B2
RS232
1 5
6 9
2=TxD
3=RxD
5=GND
+5V
STEP -
STEP+
GND
DIR-
DIR+
Figure 2.1: Connectors and pin assignments
2.2 Connecting the Motor
Connect one phase coil to the “A1” and “A2” connectors and the other phase coil to the “B1 ” and “B2” connectors.
Attention: Do not connect or disconnect the motor while the Monopack 2 is powered on as this could damage the
power drivers!
When using the stop switches, the motor must be connected so that the traveler moves towards the stop switch
connected to the “Stop Switch R” input when the velocity is positive and towards the stop switch connected to
the “Stop Switch L” input when the velocity is negative. Change the polarity of one of the coils if this should not
be the case. Otherwise, some functions of the Monopack 2 can not operate correctly (especially the stop switches
and the reference search algorithm).

Monopack 2 Manual V1.04 7
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
2.3 Stop Switches and Reference Switches
For stop and reference switches, only openers can be used. The stop and reference switch inputs can be used in
different ways:
Two stop switches and a separate reference switch: Connect the left stop switch to the “Stop Switch L”
input and the right stop switch to the “Stop Switch R” input. Connect the reference switch to the “Ref
IN” input.
One stop switch and a separate reference switch: Connect the stop switch to the desired stop switch
input and the other stop switch input permanently to ground.
Combining the reference switch with one stop switch: Connect one switch to the reference switch
input and to the desired stop switch input, as shown in Figure 2.1. If only one stop switch is to be
used connect the other stop switch input to ground.
2.3.1 Linear vs. Circular Drives
In a linear drive (Figure 2.2), the traveler moves between two end points. It is not necessarily driven by a linear
stepper motor. In most cases, stop switches are used at the end points, and also a reference switch is used for
finding the reference point. The reference switch can also be combined with one of the end switches (as shown in
Figure 2.1).
Right Stop
Switch
Traveller
Left Stop
Switch Reference Switch
Negative
Direction Positive Direction
Figure 2.2: A linear drive
In a circular drive (Figure 2.3), the traveler moves around. There are no end points, and for that reason there are
also no stop switches. So the stop switch inputs are disabled in circular mode. A reference switch can be used for
finding the reference point.
Traveller
Reference
Switch
Figure 2.3: A circular drive
2.4 Incremental Encoder
Connect the two channels of the incremental encoder to the inputs “A” and “B”. An optional null channel can be
connected to the “N” input. The incremental encoder connector also provides a 5V power supply.
2.5 Power Supply
The voltage should be between 12 and 48 Volts to operate and must not exceed 49V. When using a regulated
power supply, set the current limit higher than the maximum motor current.
2.6 The RS232 interface
The 9-pin Sub-D socket provides the RS232 interface. This interface can be used in
Monopack mode as well as in Monopack LT mode. The pin assignments are as follows:
Pin
Signal name
2
TxD
3
RxD
5
GND
RS232
1 5
6 9
2=TxD
3=RxD
5=GND

Monopack 2 Manual V1.04 8
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
2.7 The 25 pin Sub-D Socket
This socket contains the RS485 interface, the CAN interface, the
STEP/DIRECTION interface and the alarm input and output. The signals
of the incremental encoder input and the stop switch inputs are output
here as differential signals. The following subsections describe those
interfaces.
2.7.1 CAN and RS485 Interface
For the CAN and the RS485 interface, the same pins are used. So the
interface which shall be used must be selected via the DIP switches:
To use the CAN interface, set switch 1 and 2 to ON and
switch 3 and 4 to OFF position.
To use the RS485 interface, set switch 1 and 2 to OFF and
switch 3 and 4 to ON position.
The termination of both interfaces (120 Ohms) can be switched on and
off with switch 6. Switch 5 is not used. Attention: Changing between
RS485 and CAN interface requires a hardware reset (by powering off for
a short time).
2.7.2 The Step/Direction Interface
The Step/Direction interface uses differential signals. After powering on, the Monopack is in Step/Direction mode
so that the Step/Direction interface is usable. After getting the first RS485 or CAN command the Monopack leaves
the Step/Direction mode and enters the command mode where the Step/Direction interface can not be used. It is
possible to switch back to Step/Direction mode by a command.
The motor current control inputs MC0 and MC1 also belong to the Step/Direction interface. Using these inputs, the
motor current can be controlled by hardware in three steps (please see also section 4.2.1):
MC0
MC1
Motor current
0
0
1/3 of configured maximum current
1
0
2/3 of configured maximum current
0
1
2/3 of configured maximum current
1
1
Configured maximum current
In contrast to the old Monopack, these motor current settings can also be controlled by software (please see
section 4.2.1). The step and direction inputs are also provided on the Step/Direction input socket. These are
internally connected to the step/direction inputs of the 25-pin socket.
2.7.3 The Alarm Input
The alarm input is a differential input which can be used to stop the motor in case of emergency. To connect a
key to this input, simply connect it between AlarmIN+ and +5V (from the incremental encoder connector) and
connect the AlarmIN- input to ground.
2.7.4 The Alarm Output
This differential output is set high in case of an alarm or error condition. Alarm and error conditions can be
cleared by command $74 (s. 4.6.2).
2.7.5 The Incremental Encoder Output
The incremental encoder outputs (EnchA+/-, EnchB+/-, EnchN+/-) provide the encoder signals from the encoder input
(s. 2.4) converted to differential signals.
2.7.6 The Stop Switch Outputs
The stop switch outputs (StopL+/- and StopR+/-) provide the signals from the stop switch inputs (s. 2.3) converted
to differential signals.
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CANL/RS485-
CANH/RS485+
EnCHB-
EnCHB+
StopL-
StopL+
AlarmIN-
AlarmIN+
MC1-
MC1+
DIR-
DIR+
GND
EnCHN-
EnCHN+ EnCHA-
EnCHA+
StopR-
StopR+
AlarmOUT-
AlarmOUT+
MC0-
MC0+
STEP-
STEP+

Monopack 2 Manual V1.04 9
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
2.8 The Step/Direction input socket
The Step/Direction input socket provides the same differential step/direction inputs as the 25-pin Sub-D socket. It is
electrically identical with those inputs.
2.9 The hexadecimal Switch
This switch is used to set the LSN of the CAN receive identifier and the RS485 address. If the switch is set to zero,
the CAN receive identifier and the RS485 address will be reset to 1 and the CAN send identifier will be reset to 2
(please see also section 3.2.2, 4.7.2 and 4.7.3). The position of the hexadecimal switch is only read after a hardware
reset. So it is required to power off the unit when changing the hexadecimal switch setting.
2.10 The DIP switches
The DIP switches allow selecting the interface that is to be used and the operating mode. They have the following
functions:
Switch
Function
1
OFF: Use RS485 interface; ON: Use CAN interface
2
OFF: Use RS485 interface; ON: Use CAN interface
3
OFF: Use CAN interface; ON: Use RS485 interface
4
OFF: Use CAN interface; ON: Use RS485 interface
5
OFF: Use Monopack 2 (binary) command set (compatible with old Monopack)
ON: Use Monopack LT (ASCII) command set (compatible with old Monopack LT)
6
OFF: normal operation
ON: perform a firmware upgrade
7
OFF: No bus termination
ON: 100 Ohms RS485/CAN bus termination
8
OFF: Maximum current is 2.5A (compatible with Monopack / Monopack LT)
ON: Maximum current is 5.7A
Please note that switches 5 and 6 are only read after a hardware reset. So it is necessary to power off the unit
when changing the settings of switch 5 or 6.

Monopack 2 Manual V1.04 10
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
3Controlling the Monopack 2
3.1 Step/Direction Mode
Right after powering on, the device works as a step/direction power module. After getting the first command via
the RS232 interface, the RS485 interface or the CAN interface, it switches from step/direction mode to command
mode. It is possible to switch back to step/direction mode using command $50.
3.2 Binary Command Mode
The binary command mode is selected when DIP switch #6 is in its “off” position. This mode is compatible with
the old “Monopack”, with some extensions. In the binary command mode the Monopack 2 expects data telegrams
via the RS232 interface, the RS485 interface or the CAN interface. With those interfaces the following parameters
can be used:
RS485 interface
19200 baud
8 data bits, no parity bit, 1 stop
bit
RS232 interface
19200 baud
8 data bits, no parity bit, 1 stop
bit
CAN interface
125, 250, 500 or 1000 kbit/s
Default: 250 kbit/s
3.2.1 Format of the Data Telegrams
Every data telegram consists of one command byte and seven parameter bytes. Unused parameter bytes must be
set to zero. It is not allowed to leave out unused parameter bytes. In RS485 mode, every data telegram is
preceded by an address byte which contains the RS485 address of the unit. In CAN mode the identifier field of the
CAN telegram is used to address the unit. So the format of every Monopack data telegram is as follows:
Address
(in RS485 mode only)
Command
P0
P1
P2
P3
P4
P5
P6
Some commands also send back a data telegram of the same format as answer.
3.2.2 Unit Addresses
In RS485 mode, the LSN of the address can be set by the hexadecimal switch. The MSN can be set using command
$55 (s. 4.7.2).
In CAN mode, the LSN of the CAN receive ID is set by the hexadecimal switch. The rest of the CAN receive ID can
be set using command $55. The CAN send ID is set using command $56 (s. 0).
The CAN baud rate can be set using command $C0 (s. 4.7.4).
If the hexadecimal switch is set to zero the RS485 address and the CAN receive ID will be
reset to 1. The CAN send ID will be reset to 2.
3.2.3 Parameter Storage
Most of the parameters which can be set by the commands can be stored in an EEPROM. This makes it possible
that the Monopack is configured only once and can then be used without having to reconfigure it every time it is
powered on again. In firmware versions prior to 2.05, the EEPROM values are always changed whenever a
parameter changing command is given. From version 2.05 on, this can be controlled, so that parameters can also
be changed temporarily without affecting the values stored in the EEPROM and the parameters can also be read
back. These features are controlled by the P0 byte of the command. Please see section 4.1 for further explanation.

Monopack 2 Manual V1.04 11
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
3.3 Monopack LT (ASCII) Command Mode
The Monopak LT compatible command mode is selected when DIP switch #6 is in its “on” position. This command
set is compatible with the old “Monopack LT” command set. In LT mode, the communication with the Monopack 2
can either take place via the RS232 interface or via the RS485 interface. The CAN interface can not be used in LT
mode. The baud rate is 9600 bps.
Attention: The Monopack 2 uses a higher clock frequency than the Monopack LT. Thus the velocity and
acceleration settings do not give identical results. To be compatible with the settings required by the
Monopack LT, please multiply your velocity and acceleration settings by 0.691.

Monopack 2 Manual V1.04 12
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
4Binary Command Reference
In the description of the commands, hexadecimal values are marked with a leading “$” sign. Numbers which
occupy more than one byte are stored with least significant byte first and are marked with a “#” sign.
To get used to the binary command set we recommend to start with the Monopack Control Panel software. Please
refer to chapter 6.
4.1 Parameter Storage Control
As described in section 3.2.3 it can be controlled whether parameters are to be stored in the EERPOM or not, and
parameters can also be read back. This is done using the P0 parameter. The meaning of this parameter is as
follows:
P0 byte
Function
0
Set value and store the new value in the
EEPROM
1
Set value, but do not alter the EEPROM
2
Read the value from the EEPROM
3
Read the actual value
Whenever a parameter is read, a data telegram of the same format as the command is sent back.
4.2 Motor Parameters
4.2.1 Current Limit ($10)
Set the absolute maximum current. This command is new on the Monopack 2. On the old Monopack, the absolute
maximum current could only be set using the MC0 and MC1 input. On the Monopack 2 this is also possible, but it
is now better to use this command. The absolute maximum motor current also depends on the setting of DIP
switch #8.
CMD
$10
P0
Parameter storage control (s. 4.1)
P1
Current limit
0: Selected by MC0 and MC1 inputs
1: 0.8A when DIP switch #8 is OFF and 4.15A when switch #8 is ON
2: 1.6A when DIP switch #8 is OFF and 5.0A when switch #8 is ON
3: 2.5A when DIP switch #8 is OFF and 5.7A when switch #8 if ON
4.2.2 Current Control ($11)
Set up the motor current control. The current is separately controlled for the standby phase (v=0), the acceleration
phase and the constant velocity phase. All three values with this command have a range of 0..255, where 255
means 100% of the selected absolute maximum current. Please see also section 4.2.1 for selecting the absolute
maximum current.
CMD
$11
P0
Parameter storage control (s. 4.1)
P1
Standby current (motor standing still) (0..255)
P2
Active current (motor rotating with constant velocity)
(0..255)
P3
Acceleration phase current (0..255)

Monopack 2 Manual V1.04 13
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
4.2.3 Get Current Control Settings ($53)
Get the current control settings from the internal EEPROM (as set up using command $11).
CMD
$53
P0
0
Answer
CMD
$53
P0
0
P1
Standby current
P2
Active current
P3
Acceleration current
4.2.4 Frequency Range ($12)
Set the frequency range for all ramp operations. The following formula defines the microstep frequency. Fclk is the
clock frequency of the device, which is 16MHz.
f
clkstep vff 15
2
CMD
$12
P0
Parameter storage control (s. 4.1)
P1
pre-divider value (f) (0..15)
4.2.5 Microstep Resolution, Waveform and Mixed Decay ($17)
This command allows setting the microstep resolution and the waveform which is used to generate the
microsteps.
The number of microsteps can either be set between 1 and 64 or to 65, 66 or 67. Setting it to 65, 66 or 67 results
in the following numbers of microsteps:
Parameter
Resolution
65
100.8
66
202.125
67
406.5
The second parameter controls the waveform. It is a sine wave when set to zero, a triangular wave when set to
-1.0 and a trapezoid wave when set to +1.0. Please note that the waveform can only be set when the microstep
resolution is set to a value between 1 and 64. If other microstep resolutions are used, the waveform parameter
will be ignored and a sine wave will be used.
CMD
$17
P0
Parameter storage control (s. 4.1)
P1
Microstep resolution (1..64 or 65, 66, 67)
P2
Waveform (-1..+1)*127 (signed byte)
(-127 (0x81) means –1.0, +127 (0x7F) means +1.0)
P5
0: Mixed Decay disabled
1: Mixed Decay enabled
The mixed decay setting especially at rotation velocities in the range of a few 10 steps per seconds to several 100
steps per second improves motor behavior (less resonance). However, the actual performance depends on the
motor and mechanics. For supply voltages above 24V and for low inductivity motors, best microstep behavior is
reached when mixed decay setting is continuously on.

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The figure above shows differences in chopper cycles with fast and slow decay. Fast decay is better at high
velocities, while slow decay shows better performances at low velocities. With the mixed decay feature activated
the modes will be switched automatically for best motor performances. Mixed decay should be switched off in
standstill to avoid possible chirping noise.
4.3 Driving
4.3.1 About the Parameters
Driving is controlled by the bow, acceleration, velocity and pre-divider parameters. See section 4.2.4 for calculating
the step frequency for a given velocity. When driving linear ramps by using command $25 (s. 4.3.8), the microstep
acceleration rate can be calculated as follows:
f
clk afa 224
22max
fclk is 16MHz
f is the pre-divider setting (s. 4.2.4)
amax is the acceleration setting (to be set up using command $14)
Command $23 (s. 4.3.7) uses S-shaped ramps. With these ramps, the bow parameter is used: a high bow value
increases the positioning speed, while a low bow value smoothens the acceleration ramp. The duration of the
bow phase can be calculated as follows (compare to the acceleration and velocity formula):
)2/(1max/256 15 f
clkbow fbowat
Attention: The following limitations apply: Do not set the bow higher than about 20 times the acceleration, and
do not set the acceleration higher than about 20 times the minimum required velocity value.
4.3.2 Velocity and Maximum Acceleration ($14)
Set the acceleration and the maximum velocity.
CMD
$14
P0
Parameter storage control (s. 4.1)
P1,P2
Maximum Acceleration (1..8191) #
P3,P4
Maximum Velocity (1..8191) #

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4.3.3 Bow Value ($63)
Set the bow value for the ramp generation. This value must not be set to zero.
CMD
$63
P0
Parameter storage control (s. 4.1)
P1,P2
Bow (1..8191)#
4.3.4 Get Acceleration and Velocity Settings ($52)
Get the acceleration and velocity settings from the internal EEPROM.
CMD
$52
P0
0
Answer
CMD
$52
P0
0
P1,P2
Maximum Acceleration #
P3,P4
Reference Search Velocity #
P5,P6
Maximum Velocity #
4.3.5 Get actual Position ($20)
Get the actual position of the motor.
CMD
$20
P0
0
Answer
CMD
$20
P0
0
P1 –P4
Actual position (signed 24 bit)#
4.3.6 Get actual Acceleration and Velocity ($21)
Get the actual acceleration and velocity of the motor and if a reference search is just being executed. Please note
that during a reference search or an automatic position correction, the returned acceleration and velocity values
are invalid.
CMD
$21
P0
0
Answer
CMD
$21
P0
0
P1,P2
Velocity (signed 12 bit)#
P3,P4
Acceleration (signed 12 bit)#
P5
0 –reference search not active
1 –reference search active (acc./vel. values are invalid!)
P6
0 –automatic correction not active
1 –automatic correction active (acc./vel. values are
invalid!)

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4.3.7 Drive a Ramp ($23)
Drive an S-shaped ramp to the given position. The maximum acceleration, maximum velocity and bow settings (s.
4.3.1, 4.3.3) are used. If this command is given while a ramp is active, it will be queued and executed after the
currently active ramp has terminated.
CMD
$23
P0
0
P1 –P4
Position (32 bit signed long) # (-8388608..+16777215)
4.3.8 Constant Rotation ($25)
Constant rotation of the motor using the given velocity. The maximum acceleration setting (s. 4.3.1) is used to
accelerate or to decelerate the motor.
CMD
$25
P0
P1,P2
Velocity (-8191..8191)#
4.3.9 Reset Position ($27)
Set the position counter and the encoder counter to zero. If the PID controller is switched on you will have to
turn it off before using this command (s. 4.5.7, command $6F).
CMD
$27
P0
0
4.3.10 Soft Stop ($2A)
Terminate a ramp and stop the motor softly. The maximum acceleration (s. 4.3.1) parameter is used to decelerate
the motor.
CMD
$2A
P0
0
4.3.11 Emergency Stop ($2B)
Stop the motor immediately. This command has the same functionality as setting the external alarm input high.
CMD
$2B
P0
0

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4.4 Stop and Reference Switches
4.4.1 Switch Mode ($54)
P2 defines if the reference switch is also used as an end switch. The switch must be connected to both the
reference input and to one stop switch input then (P3 defines if the left or the right stop switch input is used for
this purpose). If the reference switch is not used as a stop switch connect it to the reference input only.
P3 defines the direction of the calibration. Either the left or the right stop switch will be used for calibration
purposes.
P4 defines the movement mode. In circular mode, only the reference switch (connected to the reference input) is
used and the stop switch inputs are disabled. Also, P2 is ignored in circular mode. In linear mode, the end switch
inputs are enabled and P2 is used (please see also section 2.3.1).
P6 enables the travel check function together with command $59 (travel check tolerance, 4.4.5). In this function the
reference switch is also used as a travel check switch. If the travel check switch is found at a position out of the
travel check tolerance, the alarm output will be set high.
CMD
$54
P0
Parameter storage control (s. 4.1)
P1
0 Reserved; always set to zero
P2
0/1 0: separate reference and stop switches
1: stop switch also used as reference switch
P3
0/1 0: use left stop switch for calibration
1: use right stop switch for calibration
P4
0/1 0: circular movement 1: linear movement
P5
0 Reserved; always set to zero
P6
0/1 0:travel check disabled
1: use the reference switch also as a travel check switch (see also
4.4.5)
4.4.2 Deceleration at Stop Switches ($57)
Set the deceleration which is used to decelerate the velocity to zero when a stop switch is reached. If this value is
set to zero, a hard stop will be used (the motor stops abruptly when a stop switch is reached). If set to a value
other than zero, a soft stop will be used.
CMD
$57
P0
Parameter storage control (s. 4.1)
P1,P2
Deceleration (0..8191)#
4.4.3 Reference Search ($22)
This command starts a reference search. During the reference search also other commands can be given and they
are processed. Especially use the command $21 to see if the reference search has already finished. Any driving
command will abort the reference search.
Attention: The motor has to be connected correctly to make this command work correctly (s. 2.2)!
The behavior of the reference search depends on the switch mode setting (command $54, s. 4.4.1) and is as
follows:
Circular mode: The reference switch (connected to the reference switch input) is searched at first from one
and then form the other side. The zero position is then set to the middle of the reference switch.
Linear mode:
Reference switch is also end switch: A move into the reference switch and then out of the reference
switch is executed. The zero position is then set to the beginning of the switch.
Separate reference switch and end switch: First, the left or the right stop switch (as configured) is
searched. After that, the reference switch is searched at first from one, then from the other side. The
zero position is then set to the middle of the reference switch.

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CMD
$22
P0
0
4.4.4 Reference Search Velocity ($16)
Set the velocity which is used for reference searches.
CMD
$16
P0
Parameter storage control (s. 4.1)
P1,P2
Velocity (1..8191) #
4.4.5 Travel Check Tolerance ($59)
Set the tolerance of the travel check (see also command $54, section 4.4.1). The travel checking can be enabled or
disabled using command $54. If the travel check (reference switch) is found out of the travel check tolerance the
alarm output will be set high.
CMD
$59
P0
Parameter storage control (s. 4.1)
P1
Tolerance
4.4.6 Number of Microsteps per Revolution ($15)
Set the number of microsteps per revolution. This is needed for travel checking in the circular movement mode.
The number of microsteps per revolution can be calculated from the number of full steps per revolution multiplied
by the number of microsteps set using command $17 (s. 4.2.5).
CMD
$15
P0
Parameter storage control (s. 4.1)
P1,P2,P3,P4
Microsteps per revolution (max. 16777215)#
4.4.7 Get the State of the Stop Switches ($30)
This command reads out the actual state of the stop and reference switch inputs of the Monopack.
CMD
$30
P0
0
Answer
CMD
$30
P0
0
P1
State of left stop switch input (0 or 1)
P2
State of right stop switch input (0 or 1)
P3
State of reference switch input (0 or 1)

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4.5 Incremental Encoder
4.5.1 About Incremental Encoders
Using an incremental encoder allows exact position control, as it feeds back the steps of the motor into the
Monopack. The Monopack can then detect deviations and can also try to correct such deviations automatically (see
sections 4.5.5 and 4.5.6). If this does not solve the problems, a PID controller can also be used for highly exact
positioning, but the deviation detection and the automatic position correction after a deviation has occurred are
much easier to use than the PID controller.
The resolution of the encoder (pulses per revolution) must match the resolution of the motor to make deviation
detection and automatic position correction function correctly. If the resolutions do not match, they can be
adapted by changing one or more of the following parameters:
Microstep resolution: This parameter changes the resolution of the motor and can be set using
command $17 (see section 4.2.5).
Encoder pre-divider: This can be used if the resolution of the encoder is higher than the resolution of
the motor. When for example the pre-divider is set to 4, only every 4th pulse of the encoder will be
used to increment or decrement the encoder counter register.
Encoder multiplier: This can be used if the resolution of the encoder is lower than the resolution of
the motor. When for example the multiplier is set to 5, every encoder pulse will increment or
decrement the encoder counter register by 5.
The encoder pre-divider and multiplier are set up using command $70. To find the right combination of the
parameters you can just let the motor run for example 10000 steps (using command $23 (s. 4.3.7), with deviation
detection and automatic position correction switched off) and then watch the encoder counter register (using
command $71). Before doing that, use command $27 (s. 4.3.9) to set all position registers to zero.
4.5.2 Encoder Configuration ($70)
Configure the behavior of the incremental encoder input.
CMD
$70
P0
Parameter storage control (s. 4.1)
P1
Encoder configuration. See the table below for an
explanation of the configuration bits.
P2
Encoder pre-divider (0..255)
P3,P4
Maximum deviation between ramp position and
encoder position counter (11 Bit unsigned #)
P5
Encoder multiplier (0..255). (Available since
firmware version 2.09.)
Explanation of the encoder configuration bits:
Bit
Description
0
Polarity of the encoder N input (1=positive, 0=negative)
1
The next N signal clears the encoder counter register when
set
2
Reserved. Always set to zero.
3
Reserved. Always set to zero.
4
Set this bit to copy the actual ramp position to the encoder
counter register. The bit will be reset automatically.
5
Reserved. Always set to zero.
6
Direction of the encoder signals. 1: A->B, 0: B->A

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4.5.3 Encoder Counter ($71)
Get the value of the incremental encoder counter register.
CMD
$71
Answer
CMD
$71
P1
0
P2,P3,P4
Encoder counter value (signed 24 bit #)
4.5.4 Encoder Holding Register ($72)
This command has been removed in version 2.09 of the Monopack firmware.
4.5.5 Deviation Alarm ($73)
Enables or disables the deviation alarm. This alarm occurs when the maximum deviation is exceeded. The alarm
output will then be set high. Set the maximum deviation using command $70. The motor can also be stopped
immediately or softly when the alarm occurs. Furthermore, the automatic position correction (see 4.5.6) can be
started n/200 sec (n=1..65535) after a deviation has been detected. In this case, the alarm output will only be set
when the maximum number of retries for automatic position correction has been exceeded. The maximum
deviation has to be set up using command $70 (s. 4.5.1) first. The automatic position correction has to be set up
using command $58 (s. 4.5.6).
CMD
$73
P0
Parameter storage control (s. 4.1)
P1
0: disable deviation alarm
1: enable deviation alarm
P2
0: do not stop when deviation alarm occurs
1: soft stop when deviation alarm occurs
2: hard stop when deviation alarm occurs
P3,P4
0: no automatic position correction after
deviation
1-65535: start automatic position correction n/200
sec after a deviation has been detected (available
since firmware V2.09)
4.5.6 Configure Automatic Position Correction ($58)
Configure if an automatic position correction shall be done at the end of each ramp or when a deviation has been
detected. Automatic position correction can only be used in conjunction with an incremental encoder which has to
be configured correctly first.
When this function is turned on, the Monopack checks if the position counter of the incremental encoder matches
the desired end position at the end of every ramp (since firmware V2.09, the tolerance value defines a tolerance
window around the end position). If this is not the case, the Monopack will try to correct the position of the
motor using the reference search velocity. The maximum number of retries after each ramp can also be configured.
The alarm output will be set high and the position correction will be aborted if this number is exceeded.
This function is an easy to use alternative to the PID controller.
CMD
$58
P0
Parameter storage control (s. 4.1)
P1
0: automatic correction turned off
1-255: maximum number of retries for position
correction after each ramp.
P3,P4
end position tolerance (16 bit unsigned #)
(available since firmware V2.09)