TMCM-351 CANopen Firmware Manual - Trinamic
TMCM-351 CANopen Firmware Manual - Trinamic
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