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TMC4210 Datasheet(PDF) 36 Page - TRINAMIC Motion Control GmbH & Co. KG.

Part # TMC4210
Description  MOTION CONTROLLER FOR STEPPER MOTORS
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Manufacturer  TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.]
Direct Link  http://www.trinamic.com
Logo TRINAMIC - TRINAMIC Motion Control GmbH & Co. KG.

TMC4210 Datasheet(HTML) 36 Page - TRINAMIC Motion Control GmbH & Co. KG.

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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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