User Manual

TMCM-102 Manual (V1.01 / 7 November 2007) 13

• Automatic motor stop on deviation error is also usable. This can be set using axis parameter

212 (maximum deviation). This function is turned off when the maximum deviation is set to 0.

5.6 Additional In- and Outputs

The In- and Outputs are not protected, only IN8 and IN9 are optically isolated.

Name Pin

[TMCL]

command

Characteristics

IN1_A/D 0 GIO 0 Analog user controlled input #0. No internal resistors. 0…5V

IN2_A/D 26 GIO 1 Analog user controlled input #1. No internal resistors. 0…5V

IN3_A/D 13 GIO 2 Analog user controlled input #2. No internal resistors. 0…5V

IN4 21 GIO 3 Digital user controlled input #3. No internal resistors. TTL levels

IN5 32 GIO 4 Digital user controlled input #4. No internal resistors. TTL levels

IN6 25 GIO 5 Digital user controlled input #5. No internal resistors. TTL levels

IN7 30 GIO 6 Digital user controlled input #6. No internal resistors. TTL levels

IN8 11 GIO 7 Digital user controlled input #7. Optically isolated, active low

IN9 23 GIO 8 Digital user controlled input #8. Optically isolated, active low

OUT1 17 SIO 0, 2 Digital user controlled output #0. No internal resistors. TTL levels

OUT2 9 SIO 1, 2 Digital user controlled output #1. No internal resistors. TTL levels

OUT3 22 SIO 2, 2 Digital user controlled output #2. No internal resistors. TTL levels

Table 5.3: Additional In- and Outputs

5.7 Reference Switches

Two digital reference / stop switch inputs are provided (REF L= stop left and REF R = stop right). They

are used as an absolute position reference for homing and to set a hardware limit for the motion

range. Also a step loss of the system can be detected, e.g. due to overloading or manual interaction,

by using a travel-switch. The inputs are optically isolated, active low and use TTL levels.

5.7.1 Left and right limit switches

The TMCM-301 can be configured so that a motor has a left and a right limit switch (Figure 5.2). 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 5.2: Left and right limit switches

5.7.2 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 5.3. In that configuration two switches are used as

automatic stop switches, and one additional switch is used as the reference switch between the left