TMCM-610 Hardware Manual (V1.14/2010-APR-30)
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Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
6.3
Reference switches
With reference switches, an interval for the movement of the motor or the zero point can be defined. Also a step
loss of the system can be detected, e.g. due to overloading or manual interaction, by using a travel-switch. The
TMCM-610 has one left and one right reference switch input for each motor.
Motor x
Direction
Name
Limits
Description
0, 1, 2, 3, 4, 5
in
R
TTL
Right reference switch input for Motor #X
0, 1, 2, 3, 4, 5
in
L
TTL
Left reference switch input for Motor #X
Table 6.2: Pinout reference switches
Note: 10k pullup resistors for reference switches are included on the module.
6.3.1
Left and right limit switches
The TMCM-610 can be configured so that a motor has a left and a right limit switch (Figure 6.4).
The motor stops
when the traveler has reached one of the limit switches.
left stop
switch
right stop
switch
REF _ L _x
REF _ R_x
motor
traveler
Figure 6.4: Left and right limit switches
6.3.2
Triple switch configuration
It is possible to program a tolerance range around the reference switch position. This is useful for a triple switch
configuration, as outlined in Figure 6.5. In that configuration two switches are used as automatic stop switches,
and one additional switch is used as the reference switch between the left stop switch and the right stop switch.
The left stop switch and the reference switch are wired together. The center switch (travel switch) allows for a
monitoring of the axis in order to detect a step loss.
left stop
switch
motor
traveler
REF _ L_x
right stop
switch
REF _ R_x
reference
switch
Figure 6.5: Limit switch and reference switch