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TMCM-351 CANopen Firmware Manual - Trinamic

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<strong>TMCM</strong>-341/342/343/<strong>351</strong> <strong>CANopen</strong> <strong>Firmware</strong> <strong>Manual</strong> (V1.04 / 2011-AUG-01) 55<br />

7.3.1.2 <strong>TMCM</strong>-<strong>351</strong><br />

For the reference switch inputs (two reference switch inputs are supported for each motor) there are<br />

two connector options: either one detachable screw connector (for prototyping, smaller series) or<br />

three separate crimp connectors (for higher volume series).<br />

Power<br />

connector<br />

J4 - J12: Encoder input termination<br />

Encoder_0<br />

connector<br />

Encoder_1<br />

connector<br />

Motor<br />

connector<br />

Encoder_2<br />

connector<br />

Figure 7.5: Connectors of <strong>TMCM</strong>-<strong>351</strong><br />

I/O<br />

connector<br />

Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG<br />

Analog input 0 / 1<br />

connector<br />

Reference<br />

connector<br />

J1: RS485 bus termination<br />

RS485<br />

connector<br />

J2: RS232 / RS485 selection<br />

J3: CAN bus termination<br />

SPI<br />

connector<br />

Analog input 2 / 3<br />

connector<br />

USB<br />

connector<br />

RS232<br />

connector<br />

CAN<br />

connector<br />

Please connect home switch, left switch, and right switch with the reference connector and the I/O<br />

connector as follows:<br />

CONNECTING SWITCHES<br />

Pin Name Function<br />

1 REF_0_R Right stop switch input<br />

2 REF_0_L Left stop switch input<br />

11 HOME_0 Input 0, 24V compatible<br />

5 REF_1_R Right stop switch input<br />

6 REF_1_L Left stop switch input<br />

12 HOME_1 Input 1, 24V compatible<br />

9 REF_2_R Right stop switch input<br />

10 REF_2_L Left stop switch input<br />

13 HOME_2 Input 2, 24V compatible

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