TMCM-351 CANopen Firmware Manual - Trinamic

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TMCM-341/342/343/351 CANopen Firmware Manual (V1.04 / 2011-AUG-01) 56 7.3.2 Connecting a brake The modules provide the opportunity to connect a brake for each motor. 7.3.2.1 TMCM-341/342/343 Please connect the brakes with the power and I/O connector as follows: CONNECTING BRAKES Pin Name Function 46 OUT_0 Connector for brake of motor o 48 OUT_1 Connector for brake of motor 1 50 OUT_2 Connector for brake of motor 2 7.3.2.2 TMCM-351 Please connect the brakes with the I/O connector of the module as follows: CONNECTING BRAKES Pin Name Function 1 OUT_0 Connector for brake of motor o 2 OUT_1 Connector for brake of motor 1 3 OUT_2 Connector for brake of motor 2 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
TMCM-341/342/343/351 CANopen Firmware Manual (V1.04 / 2011-AUG-01) 57 7.3.3 Homing methods: Homing on negative home switch and index pulse There are several different methods of homing. This paragraph describes homing on negative home switch and index pulse. Using the two methods as shown in Figure 7.6, the initial position is situated so that the direction of movement is dependent on the state of the home switch. The home position is at the index pulse to either to the left or the right of the point where the home switch changes state. If the initial position is situated so that the direction of movement is reverse during homing, the point at which the reversal takes place is anywhere after a change of state of the home switch. Index pulse Home switch Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG 2 2 Figure 7.6: Homing on negative home switch and index pulse 1 1
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TMCM-351 CANopen Firmware Manual - Trinamic

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