User Manual
TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04
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4 Manufacturer specific area
The manufacturer segment contains manufacturer specific objects. These objects control the special
features of the Trinamic Motion Control device TMCC160.
4.1 Detailed object specifications
4.1.1 Object 2005
h
: Limit Switches
This object defines which limit switches are to be used. Bit 0 stands for the left and bit 1 stands for the
right limit switch. If a bit is set, the corresponding limit switch will not be used. So this object has to be set
to the value 3 if limit switches are not connected. The object can only be written when the drive is in the
SWITCHED_ON_DISABLED state (but is always readable).
The limit switches can also be inverted using bit 2 and bit 3:
• Bit 2 inverts the left limit switch
• Bit 3 inverts the right limit switch
Object Description
Index Name Object Type Data Type
2005
h
Limit switches Variable UNSIGNED32
Table 29: Object Description (2005
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 63 0
Table 30: Entry Description (2005
h
)
Bit Definitions
Bit Definition
0 Left limit switch deactivated, if set.
1 Right limit switch deactivated, if set.
2 Left limit switch inverted, if set.
3 Right limit switch inverted, if set.
4 Home switch deactivated, if set.
5 Home switch inverted, if set.
Table 31: Bit Definitions (2005
h
)
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