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TMC4210 Datasheet(PDF) 36 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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TMC4210 Datasheet(HTML) 36 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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36 / 48 page  TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03) 36 www.trinamic.com 7 Reference Switch Inputs 7.1 Reference Switch Configuration, mot1r mot1r is for configuring the reference switches of the TMC4210. Per default, mot1r=0. REFERENCE INPUTS DEPENDING ON CONFIGURATION BITS mot1r left switch right switch 0 REF_L - 1 REF_L REF_R 7.2 Triple Switch Configuration The programmable tolerance range around the reference switch position is useful for a triple switch configuration, as outlined in Figure 7.1. In this 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 connected in series. In order to use the reference switch, program a tolerance range into the register DX_REF_TOLERANCE. This disables the automatic stop within the tolerance range of the reference switch. The homing procedure can use the right switch to make sure, that the reference switch is found properly. The TMC4210 can automatically check the correct position of the driver whenever the reference switch is passed. Negative direction x'1 x'2 Left stop switch x'left x1 x2 Reference switch x0 Positive direction x3 x4 xright Right stop switch DX_REF_TOLERANCE Motor traveller xtraveler Figure 7.1 Triple switch configuration left stop switch – reference switch – right stop switch |
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Similar Description - TMC4210 |
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