Trinamic SIXpack 2 User manual

SIXpack 2
Manual
6-Axis stepper motor controller / driver module
1.4A RMS (2A peak) / 48V
with CAN, RS485 and RS232 interface
GmbH & Co KG
Sternstraße 67
D - 20357 Hamburg, Germany
http://www.trinamic.com

SIXpack 2 –Manual (V1.10 / January 29th, 2010) 2
Table of Contents:
1Life support policy ....................................................................................................................................................... 4
2Introduction ................................................................................................................................................................... 5
2.1 Brief Description.................................................................................................................................................. 5
2.2 What do I have to know about my application........................................................................................ 5
2.2.1 The SIXpack 2 does not support.......................................................................................................... 5
2.3 Technical Data ...................................................................................................................................................... 6
2.4 Electrical data ....................................................................................................................................................... 7
3System Start Up ............................................................................................................................................................ 8
3.1 System Start Up / Notes.................................................................................................................................... 8
3.2 Selecting Motors.................................................................................................................................................. 8
3.3 Length of Wires................................................................................................................................................... 8
3.4 Grounding.............................................................................................................................................................. 8
3.5 Improvement of the EMC-Conduction........................................................................................................... 8
3.6 Further Information:........................................................................................................................................... 8
4Replacing QUADpack or SIXpack.............................................................................................................................. 9
4.1 DIP-switch marking comments ....................................................................................................................... 9
4.2 SIXpack compatible setting.............................................................................................................................. 9
4.3 QUADpack compatible setting ......................................................................................................................... 9
5Fundamental Functions –First Steps...................................................................................................................10
5.1 Warning Advice..................................................................................................................................................10
5.2 Basic Device Settings .......................................................................................................................................10
5.2.1 SIXpack 2 Address ..................................................................................................................................10
5.2.2 Option RS232/RS485...............................................................................................................................10
5.2.3 Baudrate of serial interface .................................................................................................................11
5.2.4 Termination of CAN/RS485...................................................................................................................11
5.2.5 Seven-segment display .........................................................................................................................11
5.2.6 Driver enable............................................................................................................................................11
5.2.7 Adjusting the maximum current........................................................................................................12
5.2.8 Setting the chopper mode...................................................................................................................13
5.3 Connections ........................................................................................................................................................13
5.3.1 Current supply .........................................................................................................................................13
5.3.2 Serial interface.........................................................................................................................................13
5.3.3 Motor connectors....................................................................................................................................13
5.3.4 Connector specifications.......................................................................................................................14
5.4 Start-up with software SQPack .....................................................................................................................15
5.4.1 Installation ...............................................................................................................................................15
5.4.2 Initiation....................................................................................................................................................15
5.4.3 Functional test: Get system information of SIXpack 2................................................................15
5.4.4 “First steps”: Movement of motor .....................................................................................................15
5.4.5 Concept of SIXpack 2 interface protocol .........................................................................................15
5.4.6 Macro functions of SQPack ..................................................................................................................16
5.5 Operation with reference/ending points....................................................................................................16
5.5.1 Types of reference point definitions ................................................................................................17
5.5.2 Hardware installation ............................................................................................................................17
5.5.3 Reference search software configuration........................................................................................18
5.5.4 Known issues...........................................................................................................................................19
5.6 Basic configurations for operation ..............................................................................................................20
5.6.1 Adjusting motor current.......................................................................................................................20
5.6.2 Configuration of acceleration and velocity.....................................................................................20
5.6.3 Motion control.........................................................................................................................................20
6Full Functionality ........................................................................................................................................................21
6.1 Inputs and Outputs ..........................................................................................................................................21
6.1.1 RS232 or RS485 interface......................................................................................................................21
6.1.2 CAN interface ...........................................................................................................................................21
6.1.3 Ready output............................................................................................................................................21
6.1.4 Multifunctional connector “RS232” ....................................................................................................21
6.1.5 RS 232-Remote Control via CAN-Interface.......................................................................................22
6.2 Programming......................................................................................................................................................22

SIXpack 2 –Manual (V1.10 / January 29th, 2010) 3
6.2.1 Hints for Programming .........................................................................................................................23
6.2.2 Examples ...................................................................................................................................................25
6.3 Adjusting SIXpack 2 to motors micro step characteristics ...................................................................28
6.3.1 Calculation of micro step frequency .................................................................................................28
6.3.2 Adapting the microstep-table to the motor characteristics.......................................................29
6.4 Reference point adjustments.........................................................................................................................29
6.4.1 Coordinate plane of an axis ................................................................................................................29
6.4.2 Reference point / reference switch ...................................................................................................29
6.4.3 Moving zero-point ..................................................................................................................................29
6.4.4 Automatic reference search .................................................................................................................30
6.4.5 Adjusting activity zone of reference switch ...................................................................................30
6.4.6 Compensation of reference switch delay........................................................................................30
6.4.7 Elimination of glitches ..........................................................................................................................30
6.4.8 Adjusting reference search velocity ..................................................................................................30
6.4.9 Aborting reference search....................................................................................................................31
6.5 End switch configurations..............................................................................................................................31
6.5.1 A_ln as end switch input .....................................................................................................................31
6.5.2 Combination of end and reference switches.................................................................................31
6.5.3 “Security Margin” for combined end/reference switch................................................................31
6.6 Commands for axis movements...................................................................................................................32
6.6.1 Basic ramp run ........................................................................................................................................32
6.6.2 Start of constant rotation ....................................................................................................................32
6.6.3 Change target position for ramp run ...............................................................................................32
6.6.4 Starting different motors synchronous............................................................................................32
6.6.5 Starting linear interpolation of multiple axis.................................................................................33
6.6.6 Configuration for rotating movements............................................................................................33
6.7 Control of motor current ................................................................................................................................34
6.8 Default values ....................................................................................................................................................35
7Instruction Set.............................................................................................................................................................36
7.1 Setting motor parameters ..............................................................................................................................36
7.2 Driving Ramps....................................................................................................................................................40
7.3 Additional Inputs / Outputs...........................................................................................................................43
7.4 Other Settings ....................................................................................................................................................44
7.5 Multi-dimensional Movement ........................................................................................................................45
7.6 Service-Functions...............................................................................................................................................45
8Instruction table .........................................................................................................................................................47
9Declaration of Conformity .......................................................................................................................................48
10 Test Reports .................................................................................................................................................................49
11 Revision History ..........................................................................................................................................................50

SIXpack 2 –Manual (V1.10 / January 29th, 2010) 4
1Life support policy
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 2007
Information given in this data sheet is believed to be accurate and
reliable. However no responsibility is assumed for the
consequences of its use or for any infringement of patents or
other rights of third parties, which may result from its use.
Specifications are subject to change without notice.

SIXpack 2 –Manual (V1.10 / January 29th, 2010) 5
2Introduction
2.1 Brief Description
The SIXpack 2 is a highly integrated stepper motor controller for six 2-phase stepper motors with a coil current of
up to 2000 mA each. It is the fully compatible advancement of the QUADpack and SIXpack with enhanced ratings
and functions.
The SIXpack 2 comes in a rugged box package with tested electromagnetic compatibility. It is easy to use and the
ideal solution for stepper motor control in an industrial environment.
A DSP supported by special hardware allows a powerful function set and a wide stepping frequency range for all
motors. The SIXpack 2 is equipped with RS 232, RS 485 and CAN-Interface.
2.2 What do I have to know about my application
Before the SIXpack 2 is set up the demands of the application to the stepper motors should be clearly defined.
What are the right motors? The SIXpack 2 supports 2-phase stepper motors. The peak motor power is defined by
the modules supply voltage and the coil current of the driver ICs (max. 2000mA).
The actual motor position is not known after power on. Thus a reference search has to be made in order to find
the absolute position. Most applications use switches or photo interrupters to detect the reference position. In
some applications a mechanical limit point without any detector switch is appropriate. The SIXpack 2 does not
support encoders.
To control the SIXpack 2 there are different interfaces (RS232, RS485, CAN). It is not relevant to the SIXpack 2 if it is
controlled by a desktop-PC, another machine operating unit or a set up with microcontroller. A stand alone
operation is not possible.
2.2.1 The SIXpack 2 does not support
Stand alone operation: The SIXpack 2 can not operate without initialization and control by a host
connected to one of its serial interfaces.
Closed loop operation: The SIXpack 2 has no encoder interface and there is no other possibility for
nominal/actual value comparison for motor position. It is possible to compare the
internal position counter with the status of the reference switch. If an invalid
value is detected an automatic reference search can be started automatically.
External output stages: There is no possibility to connect external power stages to the SIXpack 2 to
increase the maximum motor rating above 2A / 48V.

SIXpack 2 –Manual (V1.10 / January 29th, 2010) 6
2.3 Technical Data
ramp profile: automatic 3-phase ramps (32 Bit signed position resolution) with programmable
parameters for maximum frequency and acceleration for each channel; alternatively
user defined ramps; automatic reference search (reference switch)
stepping frequency: full step frequencies from 0.3 Hz 12.5 kHz
step type: microstepping resolution 1/16 with user-programmable motor characteristics or
sine-table
current control: programmable acceleration-dependent motor current; programmable stand-by timer
for current reduction
interfaces: RS 232 or RS 485; CAN
protocols: 9 byte control, barcode-reader interface via RS 232 in CAN-mode possible
I/O-lines: 10 bit analogue input for ratiometric measurements or stop functions; digital input
for reference switch; separate analogue input; digital I/O and digital output; LED-
„Interface active“; 7-segment display (number of active motors, Decimal point
indicates reference search); 1 Ready Output (Open Collector)
power supply: 15 to 48 V DC (absolute max. 58V)
max. ca. 12A, depending on motor type
motor current SIXpack2: software configurable ca. 100 - 2000 mA per channel (peak coil current);
constant current (chopper, ca. 36 kHz), motor driver thermally protected
motor type: bipolar 2-phase motors
motor connectors: 8-pin single-in-line (motor, reference switch, A/D, 5V supply (15 mA))
temperature range: up to 85°C with reduced current or forced cooling of board
dimensions: board: W: 126, D: 180, H: 25 mm; housing: W: 152, D: 180, H: 36 mm
For detailed housing dimensions see “SIXPACK_mechanical” document on
TechLibCD or www.trinamic.com
weight: 927g
material: housing: steel with red powder coating
circuit board: UL certified, leadfree and RoHS compliant
Feature
SIXpack 2 data
Advantages of new feature
Supply voltage (nominal)
15 .. 48 VDC
High motor dynamics / higher torque
(up to 3x compared to SIXpack)
Supply voltage (maximum limit)
13 .. 58 VDC
Motor current
Software setting 0.2A to 1.4A RMS
Numbers of motors
6
Chopper scheme
Slow Decay / Mixed Decay
Reduced motor resonances at medium velocities and
improved microstep exactness when using Mixed Decay
Motor drivers
TMC239A-LA
Very low power dissipation and high reliability
Software
Fully compatible to SIX/QUADpack
Control LEDs
Data, Reset, +5V
Reset button
Yes
Protection
Varistor protection for all motors
Life plug protection up to some degree
Hot plugging / emergency off
Additional motor off-jumper
Not visible by software –connect to TTLIO1 if software
readout is desired

SIXpack 2 –Manual (V1.10 / January 29th, 2010) 7
2.4 Electrical data
The operational ratings show the intended / the characteristic range for the values and should be used as design
values. In no case shall the maximum values be exceeded.
Symbol
Parameter
Min
Typ
Max
Unit
VS
Power supply voltage
13
15 ... 48
58
V
IS
Supply current
<<Sum(Imot)
10
A
ICOIL
Motor coil current for sine wave peak
(chopper regulated, adjustable via
software)
0
0.3 … 2.0
2.0
A
IMC
Nominal RMS motor current
0
0.2 ... 1.4
1.4
A
fCHOP
Motor chopper frequency
36.8
kHz
tSLP
Coil output slope
300
ns
IS
Power supply current
<< ICOIL
1.4 * ICOIL
A
IMC
Continuous motor current (RMS)
0
0.3... 1.1
1.1
A
U+5V
Internally generated +5V voltage
4.8
5
5.2
V
I+5V
Load on +5V output (sum of all outputs)
100
mA
R+5VMC
Internal protection resistor on +5V for
motor outputs
33
Ohm
UAIN
Analog input voltage range (ratiometric
measurement referred to +5V output)
0 … U+5V
V
UREFINLO
Reference input low voltage
0
1.5
V
UREFINHI
Reference input high voltage (internal
10K pullup to +5V)
3.5
5
V
UINPROT
Input protection range for REFIN and
AIN (not for normal use)
-24
24
V
IREADY
Output current ready output (Open
collector with internal 1K pullup to +5V)
-100
mA
TENV
Environment temperature (operating /
full current)
-25
60
°C
TENV
Environment temperature with reduced
current or forced cooling of board
85
°C
Table 2.1: Operational Ratings

SIXpack 2 –Manual (V1.10 / January 29th, 2010) 8
3System Start Up
3.1 System Start Up / Notes
When the SIXpack 2 is supplied with power it runs an internal initialization and a self-test of the internal
processor-system starts. If executed successfully a “0“ appears in the LED-display after a second. The SIXpack 2 is
operational now and can receive user commands.
Defective motor drivers can not be detected by the self test. Should the motor turn on and off during operation, a
constant high motor current or insufficient cooling of the drivers could be the problem. The motor driver chip
turns itself off for a short time when overheated. This condition should not occur in a normal operation condition.
If the SIXpack 2 reports a board temperature above or near 85°C, a forced air cooling or other means to reduce
heat dissipation, like reduction of stand by motor current is proposed to ensure a long product life time.
When an application requires detection of temporarily interrupted power supply of the SIXpack 2, this can be done
for example by signaling via external TTLOUT1 by programming it to a negative level. It will return to a high level
after a reset. The RS 232-interface usually receives a 0-byte after hardware reset.
3.2 Selecting Motors
When selecting motors, consider stepper motors with the lowest inductance possible, i.e. low coil resistance, to
obtain smoothest movements and the maximum possible RPM. On the other hand low coil resistance increases the
required motor current. Therefore you should choose the motor with the lowest inductance possible which
delivers the required torque at a coil current of approx. 1000 to 1400 mA. Highest possible operating voltage of
the SIXpack 2 results in high RPM also. With higher coil resistance or a too low operating voltage the duty factor
of the chopper drivers increases. When exceeding 50% a chirping noise can occur in the coils.
3.3 Length of Wires
motor wires: typically < 3m (use twisted pair wire)
RS 232: typically < 3m
CAN, RS485: can be > 30m
3.4 Grounding
For a good ESD protection the electronics must be connected effectively with ground. Therefore two holes are
provided on the PCB with ground contacts.
If the electronics is delivered without housing, these two screws must be connected to ground.
If the electronics are built-in in the housing the protection tape must be taken away of the two fixing drilled holes
on the back side. The electronics must now be grounded via these two blank areas.
3.5 Improvement of the EMC-Conduction
To improve the cable-bound conducted emission, a ferrite-clip should be clipped over the supply circuit.
3.6 Further Information:
For further information please view our homepage (www.trinamic.com). You will find help under “frequently
asked questions”. You also have the possibility to send us an e-mail via a contact sheet located on the same site.

SIXpack 2 –Manual (V1.10 / January 29th, 2010) 9
4Replacing QUADpack or SIXpack
The SIXpack 2 is fully compatible to the QUADpack and SIXpack. Adaptation is provided by DIP-switches.
4.1 DIP-switch marking comments
Mx_I0, Mx_I1: Inputs for motor current setting. The index x specifies the motor number
2A_135: Enable of 2A motor current for motor 1, 3 and 5.
2A_246: Enable of 2A motor current for motor 2, 4 and 6.
MD_135: Disable of mixed decay for motor 1, 3 and 5.
MD_246: Disable of mixed decay for motor 2, 4 and 6.
4.2 SIXpack compatible setting
ON OFF
Mx_I0
Mx_I1
2A_135
2A_246
MD_135
MD_246
Motor current:
0.8 A
Chopper scheme:
"Slow decay"
To use "mixed decay" for all motors switch 'MD_135' and 'MD_246' off.
4.3 QUADpack compatible setting
ON OFF
Mx_I0
Mx_I1
2A_135
2A_246
MD_135
MD_246
Motor current:
0.5 A
Chopper scheme:
"Slow decay"
To use "mixed decay" for all motors switch 'MD_135' and 'MD_246' off.
ON OFF
Mx_I0
Mx_I1
2A_135
2A_246
MD_135
MD_246
Motor current:
1.0 A
Chopper scheme:
"Slow decay"
To use "mixed decay" for all motors switch 'MD_135' and 'MD_246' off.
ON OFF
Mx_I0
Mx_I1
2A_135
2A_246
MD_135
MD_246
Motor current:
1.5 A
Chopper scheme:
"Slow decay"
To use "mixed decay" for all motors switch 'MD_135' and 'MD_246' off.

SIXpack 2 –Manual (V1.10 / January 29th, 2010) 10
5Fundamental Functions –First Steps
This part of the documentation describes the use of SIXpack 2 via an example with limited functionality. For
additional functionality please refer to next chapter. In addition to the required steps in hardware set up you
should take into the operation the delivered WindowsTM-Software.
5.1 Warning Advice
To avoid damage to the SIXpack 2 please be aware that:
Wrong connector pin assignment may destroy the SIXpack 2. Be extremely accurate at the installation and
when confectioning cables.
Disconnecting the Motor while operational may destroy the SIXpack 2. Disable the motor current by
pulling the jumper, or better power down the device before connecting / disconnecting motors.
5.2 Basic Device Settings
5.2.1 SIXpack 2 Address
Before the SIXpack 2 is put into operation some adjustments of the device have to be checked, eminently the
address of the serial interface. It is set via the CANHI and CANLO switches and should be set to zero by default.
Refer to Figure 5.1.
RS232-Connector:
2: RXD
3: TXD
5: GND
7: RTS
8: CTS
CAN-Connector:
2: CANL
6: GND
7: CANH
CAN-TERM
CAN-Adress setting Baudrate setting
1-2: JP2
3-4: JP1
RS232/RS485-
Selector RS485-Term. 100 OHM
POWER:
1: GND
2: Vcc(+15,40V, 7A)
READY:
1: GND
2: OUT
(open collector,
100mA, 35V)
Seven-Segment
Display
RS485:
1: GND
2: RS485+
3: RS485-
4: GND
5: RS485+
6: RS485-
6 5 4 3 2 1 2 11 2
4
8
7
6
5
0
3
2
1
C
F
E
D
B
A
9
4
8
7
6
5
0
3
2
1
C
F
E
D
B
A
9
54
3
21
6 7 8 9
12345
9876
SIXpack 2
CANLO CANHI
12
12 34
123 12
Figure 5.1: Jumper and connectors
5.2.2 Option RS232/RS485
To operate the SIXpack 2 via its RS232 interface, place the jumper RS232/RS485 at position RS232 (Refer Figure 5.1).
The use of RS485 is described in chapter 6.1.1.

SIXpack 2 –Manual (V1.10 / January 29th, 2010) 11
5.2.3 Baudrate of serial interface
The baud rate of the serial interface is set via jumper JP1 and JP2 (refer Figure 5.1).
JP1
JP2
Baud rate RS232/RS485
Baud rate CAN
X
X
9600
1 Mbit/s (*)
-
X
57600
500 kbit/s (*)
X
-
38400
125 kbit/s (*)
-
-
19200
250 kbit/s (default)(*)
Table 5.1: Adjustment of baudrate with jumpers
(*): The SIXpack 2 has an internal buffer for 16 CAN commands which need about 2ms execution time each. This
might limit the maximum data throughput.
The command GetInputValues (SQPack-Tab I/O, $30) provides the actual jumper configuration in the variable
AllInputs.
Bit 6 = Jumper1, Bit 7 = Jumper2
The baud rate for RS232/485 can be modified by software also. This setting is not stored permanently.
In order to get the actual jumper-configurations send CMD $30.
5.2.4 Termination of CAN/RS485
Each interface can be terminated by setting the jumpers “TERM CAN” and “TERM RS485” (refer Figure 5.1).
5.2.5 Seven-segment display
The seven segment display shows the number of active motors. With an appropriate power supply a “0” is shown
at start. The decimal point indicates that a reference search at any motor is accomplished.
If a malfunction occurs the display shows “8”, “C” or “F”. Try to restart the SIXpack 2.
5.2.6 Driver enable
The jumper “Driver enable” (close to the motor connectors) enables (jumper set) or disables (jumper open) the
drivers for all motors. Pin2 of the jumper is GND, and Pin1 has a 10k pullup to +5V with a CMOS logic gate level. It
can be used as an interlock/motor enable switched by opto coupler or relay. If the drivers are disabled, i.e. jumper
open, it is safe to disconnect the motors while power on and retain the actual settings of the SIXpack 2.
Hint: It is possible to use a switch to enable/disable the drivers.
Driver enable
Multifunctional
"RS232"
DIP-switches:
1: M2 I 1
2: M2 I 0
3: M1 I 1
4: M1 I 0
5: MD246
6: MD135
7: 2A_246
8: 2A_135
DIP-switches:
1: M6 I 1
2: M6 I 0
3: M5 I 1
4: M5 I 0
5: M4 I 1
6: M4 I 0
7: M3 I 1
8: M3 I 0
SIXpack 2
3
1
2
4
5
6
7
8
12
12
34
56
78
910
3
1
2
4
5
6
7
8
Motor connectors
Figure 5.2: Driver enable, DIP switches and motor connectors

SIXpack 2 –Manual (V1.10 / January 29th, 2010) 12
5.2.7 Adjusting the maximum current
The maximum current of the SIXpack 2 can be set via DIP-switches. The switches are close to the motor
connectors. This adjustment allows a coarse adaptation of the current setting to the motors’ maximum current.
Additionally it provides a compatibility setting for the former QUADpack and SIXpack, which had different
maximum currents. With the appropriate DIP-switch configuration the SIXpack 2 is fully software compatible. For
fine current adjustment please see 5.6.1 and 6.2.1.2.
Current
DIP-switch position
description
0.5 A
ON OFF
Mx_I0
Mx_I1
2A_135
2A_246
Current setting for each motor (index x specifies the motor number)
0.8 A
ON OFF
Mx_I0
Mx_I1
2A_135
2A_246
Current setting for each motor (index x specifies the motor number)
1.0 A
ON OFF
Mx_I0
Mx_I1
2A_135
2A_246
Current setting for each motor (index x specifies the motor number)
1.5 A
ON OFF
Mx_I0
Mx_I1
2A_135
2A_246
Current setting for each motor (index x specifies the motor number)
2.0 A
ON OFF
Mx_I0
Mx_I1
2A_135
2A_246
2.0 A maximum current for all motors
ON OFF
Mx_I0
Mx_I1
2A_135
2A_246
2.0 A maximum current for motor 1, 3 and 5.
Current setting for motor 2, 4 and 6 via 'Mx_I0' and 'Mx_I1'.
ON OFF
Mx_I0
Mx_I1
2A_135
2A_246
2.0 A maximum current for motor 2, 4 and 6.
Current setting for motor 1, 3 and 5 via 'Mx_I0' and 'Mx_I1'.
Table 5.2: Adjusting maximum current

SIXpack 2 –Manual (V1.10 / January 29th, 2010) 13
5.2.8 Setting the chopper mode
The SIXpack 2 supports “Mixed Decay” which provides reduced motor resonance at medium velocities and
improved microstep exactness. This mode can be switched off by the DIP-switches if desired.
Chopper Scheme
DIP-switch position
description
Mixed decay
(all motors)
ON
OFF
MD_135
MD_246
Mixed decay for all motors
Mixed decay
(motor 1, 3 and 5)
ON OFF
MD_135
MD_246
Mixed decay for motor 1, 3 and 5
Mixed decay
(motor 2, 4 and 6)
ON OFF
MD_135
MD_246
Mixed decay for motor 2, 4 and 6
Table 5.3: Adjusting chopper mode
5.3 Connections
Initial operation of the SIXpack 2 is possible after installing current supply and serial interface.
5.3.1 Current supply
Any power supply unit with an output voltage of 15-48V may be used. The required current is conform to the
usage and quantity of motors. The connector is labeled POWER. Be aware that the polarity is correct and make
sure that your supply voltage never exceeds the absolute maximum rating.
With an appropriate current supply the LEDs “+5V” and “+24V” light up and the 7-segment-display shows zero. If
the display shows “8”, “C” or “F”, or the unit resets continuously, an internal defect has been detected. When
continuous resets occur, the Flash memory could be erased. You can try to swap flash with an other device.
5.3.2 Serial interface
The RS232 interface is connected via a null modem cable with one serial interface of the PC.
5.3.3 Motor connectors
CAUTION: Connecting or disconnecting while power on may damage the motor drivers of
the SIXpack 2.
The function “Driver enable” (refer to 5.2.6) provides the possibility to disconnect motors while the modules power
is on. Thereby all actual settings are retained.
The motors are connected with the 8 pin connectors. The pinning of the connectors are as follows:

SIXpack 2 –Manual (V1.10 / January 29th, 2010) 14
A_ln(analog input 0...5V)
Refln (reference input, 10k
intern pullup resistor, 5V level,
2.5V threshold with hysteresis)
Vcc (5V, 15mA, 33 Ohm)
Ground (for A_ln, Refln)
Phase B, Connector 2
Phase B, Connector 1
Phase A, Connector 2
Phase A, Connector 1
SIXpack 2
Figure 5.3: Pinning of motor connector
For fundamental functions the pin connections for the motor phases are important. Connect the motor coils
indicated in Figure 5.4 with the connector of the pack.
SIXpack 2
M
PHB2
PHB1
PHA2
PHA1
Figure 5.4: Connecting motor coils
5.3.4 Connector specifications
Motor connector: Producer: AMP Connectors (www.amp.com)
Item number: 0-0770602-8 (case)
0-0770666-1 (crimp contacts)
0-0058517-1 (crimping tool)
Power supply/RS485: Producer: Weidmüller (www.weidmueller.com)
Item number: 1716320000 (2-pole, VDC, Ready)
1716360000 (6-pole, RS485)

SIXpack 2 –Manual (V1.10 / January 29th, 2010) 15
5.4 Start-up with software SQPack
After adjusting the necessary hardware of the SIXpack 2 the first function tests with the WindowsTM program
SQPack can be done.
5.4.1 Installation
The installation of the program SQPack is accomplished by copying the file “SQPack.exe” to any location on your
PCs hard disc. At first start the file “SQPack.ini” is created to save actual settings. To reset the settings of the
software simply remove this file.
5.4.2 Initiation
To initiate the program double click “SQPack.exe”. A window with nine tabs is opened. In front is the tab
“Connection”. To establish a connection to the SIXpack 2 choose the correct COM-Port. The other settings should be
at necessary values.
1. step:
choose
COM port
2. step:
SIXpack II adress
(see Hex switches)
3. step:
establish connection
Figure 5.5: Setup of SQPack
5.4.3 Functional test: Get system information of SIXpack 2
To check the connection the command GetUnitInformation is useful. Choose the tab “Others” and activate in box
“Commands” the line “$43: Get Unit Information”. If the connection settings are done correctly it is possible to
click the button “Send” at the bottom of the window to transfer the command to the SIXpack 2. If a connection is
established the values for “Firmware Revision”, “Reset Flag”, “Temperature” and “S/N” are displayed in the box
“Parameters”.
5.4.4 “First steps”: Movement of motor
The significant advantage of stepper motors is to turn to a specific position. The motor is accelerated by the
SIXpack 2 to an assigned velocity and decelerated in time to reach the specified position.
Therefore choose on the tab “Movement” the command “Ramp”. The variable “Position” represents the exact target
position. By clicking the “Send” button the motor turns to the specified position.
5.4.5 Concept of SIXpack 2 interface protocol
The SIXpack 2 is controlled by frames of 9 byte generally. The software SQPack displays this frames in the lower
part of the window next to the “Send” button. The nine bytes are shown hexadecimal.
At start it is easiest to create the frames by software and add these eventually to an own program.

SIXpack 2 –Manual (V1.10 / January 29th, 2010) 16
SIXpack II
adress Command
$23 motor number variable position not assigned for
this command Button to send
datagrams
Figure 5.6: Command frames of “SQPack”
5.4.6 Macro functions of SQPack
At the tab “Connection” the software provides the function “Macro Processor Window” to store command
sequences to a file. This file can be opened by an ASCII-Editor and the command sequence is formatted as
follows:
SendToPack ( adr, cmd, p0, p1, p2, p3, p4, p5, p6 )
“SendToPack” stands for the function which sends nine bytes to the SIXpack 2 via the serial interface. The
parameters are hexadecimal.
A Macro is generated by clicking the button “Record Macro” on the tab “Macro Processing Window“. A dialog box is
opened to name the file in which the macro is saved. Afterwards any commands can be saved to the file until the
recording is ended by clicking “EndRecording”.
CAUTION: Some commands are excepted at stopped motor only. According to this refer to the command
description.
stop macro
execution
open and
execute
stored macro
record
macro
export
macro as
source code
Figure 5.7: Macro function of SQPack
5.5 Operation with reference/ending points
Most applications with stepper motors need a reference point to acquire the actual position of the motor. The
reference point of each axis is detected by the SIXpack 2 with a reference search. The positions scaling determined
by type of the application. It is a linear axis if the motor moves a mechanic with defined end and start point.
Every point on the axis is assigned to a position between start and end point.
If there is no end or start point it is a rotating axis. The position values for the axis are defined for one rotation.
The value starts at zero again after full revolution.

SIXpack 2 –Manual (V1.10 / January 29th, 2010) 17
5.5.1 Types of reference point definitions
The SIXpack 2 provides two completely different types to define the reference point:
Mechanical stopper for reference point (linear axis only)
At start point or end point a stopper for the mechanic of the axis is build in. At reference search the
SIXpack 2 moves the respective axis in direction of the stopper (defined by the flag MT_NULLLEFT, SQPack-
tab: “Reference search”, CMD $15) for a distance of Poslimit * 5/4. The multiplication with 5/4 causes the
SIXpack 2 to reach the stopper before end of the reference search. The motor is mechanically stopped,
reference point is reached.
Electrical reference point
At any point of the positioning scale of the axis an electrical switch is implemented which is activated by
the passing motor. The SIXpack 2 catches this for reference point.
A reference switch attached one end of a linear axis can be used as end switch. At activation of the switch
the motor stops.
5.5.2 Hardware installation
5.5.2.1 Connection of electrical reference switch
The reference switch is connected to the pins „Ref_In“ and „GND“. Optionally a series resistance of about 2.2kOhms
can be inserted to match EMC demands. In general using an opener, i.e. a normally closed switch is advisable. So
broken cables can be detected. The reference input is equipped with a Schmitt-trigger.
SIXpack 2
Ref_in
GND
opener switch
2k2 Resistor
(optional)
Figure 5.8: Connecting reference switch

SIXpack 2 –Manual (V1.10 / January 29th, 2010) 18
5.5.2.2 Wiring with stop-switches
To prevent driving beyond the ends of a linear axis stop-switches can be used. They are connected to pin „A_In“ of
the motor connector. Again, openers should be used as stop-switches for the reason mentioned above.
SIXpack 2
A_ln
GND
5V
2k2 2k2
Stop_L Stop_R
Figure 5.9: Connecting two end switches
5.5.2.3 Wiring with combined Stop-/Reference Switch when using Openers
Mounting the reference switch at one of the ends of the axis it, can be concurrently used as stop-switch thus
saving the respective stop-switch.
SIXpack 2
A_ln
GND
5V
2k2 2k2
optional
Stop_R
Ref. switch
2k2
Figure 5.10: Combination of reference and end switches
Note: In this circuit the reference switch is concurrently used as left stop switch if flag StopNull is set. The flag
NullPositive has to be set, to match the opener. Reference search is done in left direction (flag NullLeft set). Refer
to CMD $15.
5.5.3 Reference search software configuration
Most settings for the reference search are adjusted with the command SetMotorParameters (CMD $15, SQPack-tab:
“Reference search”).
5.5.3.1 Calculation of value range
The positioning is defined by the motors count of micro steps. The pack has 16 microsteps per full step. The angle
the motor moves for each full step depends on the motor and can be seen in the motors' manual.

SIXpack 2 –Manual (V1.10 / January 29th, 2010) 19
Calculation of the value range of a linear axis is easiest experimental. Therefore set the axis mechanics manually to
the start position and move it with use of SQPack to the end of the axis. Use the command “Ramp” (CMD $23,
SQPack-tab: “Movement”) and set value of Position higher until the end of the axis is reached. Position represents
now the length of the axis.
5.5.3.2 Linear Axis, mechanical reference point
Important parameters for configurations are:
variable Poslimit,
Flag MT_NULLLEFT,
Flag MT_MECHREF.
The value range of the axis is specified in Poslimit. The SIXpack 2 evaluates with this value the length of the
reference search (5/4 * Poslimit). MT_NULLLEFT defines the direction of the reference stopper. It is on the left
side of the axis for NullLeft = 1.
For Poslimit = 10000 the produced dataset by SQPack is:
SendToPack($00, $15, $00, $10, $27, $00, $00, $10, $04).
The reference search is started with command StartReferenceSearch (CMD $23), from the SQPack-tab “Reference
Search”. The dataset is as follows:
SendToPack($00, $22, $00, $00, $00, $00, $00, $00, $00).
5.5.3.3 Linear Axis, reference switch at beginning of axis
The hardware configuration described above is the starting point. For the basic configuration only the variables
Poslimit, MT_NULLLEFT and MT_NULLPOSITIVE are relevant. MT_NULLLEFT and MT_NULLPOSITIVE are set to 1. The
resulting dataset evaluated by SQPack for an axis of the length of Poslimit = 33333 is:
SendToPack($00, $15, $00, $20, $A1, $07, $00, $10, $40).
Start of reference search as described in 5.5.3.3.
5.5.3.4 Linear axis, combined end/reference switch left, end switch right
Starting point is the same. Additionally to Poslimit, the Flags MT_NULLLEFT and MT_STOPNULL have to be set.
The resulting dataset for Poslimit = 500000 is:
SendToPack($00, $15, $00, $20, $A1, $07, $00, $50, $40).
Start of reference search as described in 5.5.3.3.
5.5.4 Known issues
First you have to be sure the reference switch is on the left (ROL moves toward reference switch). If this is
different, select or deselect the flag NullLeft, depending to your actual setting.
When slow homing movement and then a jitter around the reference point occurs, the Sixpack 2 interprets the
reference switch inverted. Either use an inverted reference switch (closer/opener) or change the state of both
"Nullpositive" and "NullLeft". Now the homing still goes into the same direction, but with the correct fast
algorithm.
When now the motor after homing still keeps moving forth and back, please increase the NullTestRange.

SIXpack 2 –Manual (V1.10 / January 29th, 2010) 20
5.6 Basic configurations for operation
5.6.1 Adjusting motor current
Additionally to the possibility to adjust the maximum motor current manually by the DIP switches in 5 stages,
(refer to 5.2.7) the motor current can be adjusted more precisely using a software setting (refer to 6.2.1.2).
First, the (maximum) current requirement of the motors has to be determined. Please refer to the motors’
datasheet. Commonly the motor data sheet specifies the full step current setting. To match this with the SIXpack 2,
a current of 1.4 times the motor’s peak current is possible. The command PeakCurrent (CMD $10, SQPack-tab
„Current“) configures the maximum current.
CAUTION: The maximum current setting is always in common for two adjacent motor channels (1 and 2, 3 and 4,
5 and 6). The current setting concerns two motors!!!
The peak current setting issued by CMD $10 has a value range of 0…255. 255 refers to the full current as set by the
switch settings. Additionally, CMD $11 specifies a situation dependant current reduction. Typically, the acceleration
current is set to 100%, the constant velocity current is set to 100% or less, the standby current is set equal to the
constant velocity current or less (e.g. 50%), the power down current is set even lower, down to 0%, depending on
the torque required in these situations (refer to 6.7).
The resulting current setting is:
Current = (Peak Current / 256) * (Current specified by DIP switches) * CMD$11 percentage
5.6.2 Configuration of acceleration and velocity
The exact and calculation and configuration of micro steps and the description of parameters concerning
calculation of micro steps follow in “6 Full Functionality”. In this chapter the detection and configuration of
maximum acceleration and velocity is described, only.
5.6.2.1 Configuration of initial velocity
CAUTION: This value may be changed at motor standstill, only !!!
The initial velocity characterizes velocity at start of motion ramp. Value range is 1…256. The command StartVelocity
(CMD $13, SQPack-Tab „Velocity & Acceleration“) configures the initial velocity in the variable VStart.
Attention: This command changes the two other values VMin and ClkDiv, also. These functions are explained in
the Instruction Set. The default values VMin = 5 and Div = 2 are sufficient here.
Example dataset: VStart = 100, VMin = 5, Div = 2 for Motor 3:
SendToPack($00, $13, $02, $0A, $00, $0A, $00, $02, $00)
5.6.2.2 Acceleration and maximum velocity
Acceleration and maximum velocity are related closely. Starting from VStart a velocity with fixed frequency is
raised by AMax until VMax is reached. A detailed instruction is provided in the Instruction Set.
Both values are set with command SetAMaxVMax (CMD $14, SQPack-Tab „Velocity & Acceleration“). AMax has to be
ranged from 1 to (VStart*64), VMax from 1 to 511.
Example dataset: AMax = 200, VMax = 400 for Motor 4:
SendToPack($00, $14, $03, $C8, $00, $90, $01, $00, $00).
5.6.3 Motion control
Divers commands for the movement of the axis are combined in chapter 6.6 “Commands for axis movements”.