Specifications

Chapter 1. Installation 11
End-of-Travel and Home Limit Inputs
NOTES
• Motion will not occur until you do one of the following:
- Install end-of-travel (POS & NEG) limit switches
- Disable the limits with the LHØ command (recommended only if load is not coupled)
- Change the active level of the limits with the LHLVL command
• Refer to the Basic Operations Setup chapter in the 6000 Series Programmer's Guide for
in-depth discussions about using end-of-travel limits and homing.
CONNECTIONS & INTERNAL SCHEMATICS
TRG-A
TRG-B
OUT-A
GND
P-CUT
+5V
OUT-P
IN-P
AUX-P
Internal Schematic
+5VDC
POS & NEG connected to GND (normally-closed switches).
Mount each switch such that the load forces it to open before it
reaches the physical travel limit (leave enough room for the load to
stop). When the load opens the switch, the axis stops at the decel
value set with the LHAD command. The motor will not be able to
move in that same direction until you execute a move in the opposite
direction and
clear the limit by closing the switch (or you can disable
the limits with the LH command, but this is recommended only if the
motor is not coupled to the load). The active level (default is active
low) can be changed with the LHLVL command.
HOM connected to GND (normally-open switch).
The home limit input is used during a homing move, which
is initiated with the HOM command. After initiating the
homing move, the controller waits for the home switch to
close, indicating that the load has reached the “home”
reference position. The active level (default is active low)
can be changed with the HOMLVL command.
HCMOS compatible:
Low ≤ 1.00V; High ≥ 3.5V
+5V connected to AUX-P (sourcing current).
Provides +5V power to the POS, NEG, and HOM input pull-up resistors. As an alternative,
you can connect AUX-P to an external power supply of up to 24VDC (DISCONNECT THE +5V JUMPER FIRST).
NOTE: AUX-P is also the pull-up for the P-CUT & TRG inputs.
SINKING CURRENT: To make the limit inputs (as well as the P-CUT & TRG inputs) sink current, connect AUX-P to GND.
6.8 KΩ Resistors
47 KΩ
Resistors
Chassis Ground
GND
HOM
NEG
POS
Isolated Ground
74HCxx
74HCxx
74HCxx
SHLD
GND
Z-
Z+
B-
B+
A-
A+
+5V
I/O Connector
LIMITS Connector
ENCODER Connector
PIN OUTS & SPECIFICATIONS (4-pin LIMITS Connector)
Name In/Out Description
GND
HOM
NEG
POS
—
IN
IN
IN
Isolated ground.
Home limit input.
Negative-direction end-of-travel
limit input.
Positive-direction end-of-travel
limit input.
Specification for all limit inputs
HCMOS compatible (voltage levels: Low ≤ 1.00V, High ≥ 3.25V); internal 6.8 KΩ pull-ups to
AUX-P terminal (AUX-P is wired at factory to +5V); voltage range is 0-24V.
Active level for HOM is set with the HOMLVL command (default is active low, requiring
normally-open switch).
Active level for POS & NEG is set with the LHLVL command (default is active low,
requiring normally-closed switch).