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AX3500 Motor Controller User’s Manual 83
Wiring Limit Switches Without Encoders
When the switch is activated, the module’s input is pulled to 0V.
It is recommended that a voltmeter and/or oscilloscope be used to verify that the right volt-
age levels are created as the encoder rotates and the switches activate.
You may also use the Encoder setup/test function in the Roborun utility (see “Encoder
Testing and Setting Using the PC Utility” on page 87). If the wiring is correct, the counters
should increment/decrement as the motor rotate. The switch indicators should be always
off unless the switches are actually activated.
Wiring Limit Switches Without Encoders
If no encoder is used, the Encoder Module’s inputs can be used to wire limit switches
directly with solely a pull-up resistor as shown in the diagram below.
Effect of Limit Switches
Each pair of limit switches will stop the motion of a given motor in a given direction. This
will have the effect of stopping the motor when a limit is reached while allowing motion in
the other direction, away for that limit.
TABLE 15. Effects of Limit Switches 1 and 2 on Motor 1
SW1 SW2 Motor 1 Fwd Motor 1 Rev
OFF OFF Allowed Allowed
ON OFF Stopped Allowed
OFF ON Allowed Stopped
ON ON Stopped Stopped
SW3
SW4
Encoder Input
GND
5V Out
Ch B In
Ch B In
Ch A In
6
1
2
5
8 - 4
7 - 3
Ch A In
4.7kOhm
4.7kOhm
SW1
SW2
4.7kOhm
4.7kOhm
FIGURE 54. Signals seen by encoder using multi-levels and limit switches