User Manual

TMCM-1630 Hardware Manual (Rev. 1.02 / 2012-JUN-11) 9
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5.2 Communication, GPIO, and encoder connector
A double row 26 pin header with 2.54mm pitch is used for connecting all communication and GPIO signals.
Pin
Label
Description
Pin
Label
Description
1
+5V
5V analog reference as used by
the internal DAC.
Max. load 0.5mA
2
Velocity
Used for velocity control in
stand alone operation by
supplying external 0 - 10V
signal
3
Torque
Used for max. motor current /
torque control in stand alone
operation by supplying external
0-10V signal
4
GND
Module ground (power supply
and signal ground)
5
Dir_IN
5V TTL input. Tie to GND to
inverse motor direction, leave
open or tie to 5V otherwise.
6
Tacho
This pin outputs a tacho
impulse, i.e. toggles on each
hall sensor change
7
Stop_IN
Emergency stop. Tie this pin to
GND to stop the motor (same as
the Motor Off switch on PCB).
The motor can be restarted via
the interface, or by cycling the
power supply
8
LED-Temp
5V TTL output: Toggling with
3Hz when temperature pre-
warning threshold is exceeded,
high when module shut down
due to overtemperature
9
LED-Curlim
High, when module goes into
current limiting mode
10
+5V
5V output as reference for
external purpose
11
GND
GND reference
12
GND
GND reference
13
Enc_A+
Encoder A+ channel
14
Enc_A-
Encoder A- channel
15
Enc_B+
Encoder B+ channel
16
Enc_B-
Encoder B- channel
17
Enc_N+
Encoder N+ channel
18
Enc_N-
Encoder N- channel
19
CANL/USBD-
CAN low /
USB D- bus line
20
RXD/
485-
RXD signal for RS232 /
inverting signal for RS485
21
CANH/USBD+
CAN high /
USB D+ bus line
22
TXD/
485+
TXD signal for RS232 /
non inverting signal for RS485
23
USB_+VB
Use to detect availability of
attached host system (e.g. PC)
24
n.c.
25
GND
GND reference
26
GND
GND reference
Table 5.3: Connector for communication and GPIOs
5.2.1 Reset the module to factory defaults
Interface
Description
RS232
Short RxD and TxD for resetting the module.
USB
Use your USB interface for resetting the module
with the functions of TMCL-IDE. Please refer to the
TMCL™ Firmware Manual.
Table 5.4: Reset the module to factory defaults