PD86-1180 CANopen FW Manual (.pdf) - Trinamic

TMCM-1180 / PD86-1180 CANopen Firmware Manual (V1.01 / 2011-AUG-01) 42
6.3.2 Connecting a brake
The module provides the opportunity to connect a brake. Please take OUT_1 for it. A 2mm pitch 4 pin
JST B4B-PH-K connector is used.
Mating connector housing: PHR-4
Mating connector contacts: SPH-002T-P0.5S
OUTPUT CONNECTOR
1
4
Pin Label Description
1 +ULogic Module digital logic power supply – connected to
pin 2 of power supply connector
/Shutdown input – has to be connected to power
2 /Shutdown
supply (e.g. pin 1 of this connector) in order to
enable driver. Connecting this input to ground or
leaving it unconnected will disable driver stage
3 OUT_0
Open collector output with integrated freewheeling
diode, +24V compatible
4 OUT_1 Connect brake here
6.3.3 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 6.4, 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 6.4: Homing on negative home switch and index pulse
1
1