TMCM-6110 limit switch configuration

[jmdavey]

how is the limit switch configuration done on the TMCM-6110?
The hardware manual describes 'programmable pull-ups' for the reference switch inputs - how are these actually programmed?
Is the default configuration for each axis to use the left and right reference inputs as motor stop switches? What I have is a motor axis with sensors at each end of travel, all I want to do is set it up so that the motor stops automatically when it reaches the switch. Please confirm any configuration changes I need to make to achieve this.

Regards,

John Davey

[Olav Kahlbaum (TRINAMIC)]

The pull-up resistors for the end switches can be configured using the command SIO 0, 0, <x> with:
x=0: all pull-up-resistors off
x=1: pull-up-resistors only for axis 0..2
x=2: pull-up-resistors only for axis 3..5
x=3: pull-up-resistors for axis 0..5

The polarity of the end switch inputs can also be selected (for this at least firmware V1.19 is needed) using the command SGP 79, 0, <x> with:
x=0: end switch polarity normal for all axes
x=1: end switch polarity reversed for axis 0..2, normal for axis 3..5
x=2: end switch polarity normal for axis 0..2, reversed for axis 3..5
x=3: end switch polarity reversed for all axes

[jmdavey]

Olav,

many thanks for this answer. Are these settings documented somewhere that I have missed? I think I have looked through both the firmware and hardware manuals for the module. I would like to be sure that I have the complete and latest documents fully describing the capabilities of the module. I a similar vein, what can one do with the dip switch bank on the module? Do they have a dedicated function, or if not how does one read their values?

Thanks again,

John Davey

[Olav Kahlbaum (TRINAMIC)]

You are right, these two options are not in the documents yet. With the dip switch you can set the RS485 address or CAN ID of the module (it overrides the settings in the EEPROM if not all switches are set to zero).