Trinamic PANdrive PD013-42, Manual

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TMCM-013 Manual (V1.14 / January 17th, 2006) 18
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
6.2.1.4 Limit Switch (L)
The parameter ‘L’ defines the different reference entrances of the module. The motor stops when the
defined position is reached.
Bit Motor stops at
0 REF_B = 0
1 REF_A = 0
2 GPI = 0
3 REF_B = 1
4 REF_A = 1
5 GPI = 1
6 0: soft stop, 1: hard stop
7
0: sets position zero
1: sets position not to zero
Table 6.4: Limit switch
To activate a reference switch set the appropriate bit to 1. When motor stops the position counter is
set to zero.
Example:
AL 8
⇒
ENTER : Activates REF_B = 1. When destination reached motor stops and position counter is
set to zero.
6.2.1.5 I/Os Readout (Q)
Command:
AQ
⇒
ENTER
⇒
CR (carriage return)
Bit 7 6 5 4 3 2 1 0
Port 0 0 0 GPI REF_A REF_B GPO ALARM
Table 6.5: I/Os Readout
6.2.1.6 Baud Rate (U)
The parameter ‘U’ changes the baud rate of the module for RS485 communication.
Parameter U Baud rate
0 9600 baud
1 14400 baud
2 19200 baud
3 28800 baud
4 38400 baud
5 57600 baud
6 76800 baud
7 115200 baud
Table 6.6: Baud rate