If Bit 2 = 0, the motor output is not energized. If Bit 2 = 1, the CW motor output is energized when Bit 1 = 0 and the CCW
motor output is energized when Bit 1 = 1. Unless Bit 2 is cleared, the actuator will continue to move in the specified direction
until the corresponding end of travel limit switch closes.
It is acceptable to change direction with Bit 1 while maintaining Bit 2 = 1. If the direction is changed while the actuator is
moving, a short delay occurs before the actuator begins moving in the opposite direction.
Writing values into Register 40010 will automatically set Bit 1 and Bit 2 in Register 40009 according to the action specified.
CAUTION! When writing to Bit 1 and Bit 2 of Register 40009, be careful not to change the other register bits.
In Register 40001, Bit 1 and Bit 2 indicate the direction of travel. Bit 3 and Bit 4 indicate if the actuator is at the full CCW or
full CW limit respectively.
While the actuator is moving in the CW direction, Bit 2 = 1. When the actuator reaches the CW end of travel limit switch, Bit
2 = 0 and Bit 4 = 1. The CW motor output is de-energized.
While the actuator is moving in the CCW direction, Bit 1 = 1. When the actuator reaches the CCW end of travel limit
switch, Bit 1 = 0 and Bit 3 = 1. The CCW motor output is de-energized.
Potentiometer Positioning Operation
When operating with feedback potentiometer for proportional or modulating control, the TMC4 Position Type setting in the
POSITION CONFIG submenu should be set to Potentiometer. In this mode, the actuator is controlled using the Command
Position Register 40010, and the Sensitivity/Deadband Register 40013. Note, the deadband can also set by the on-board
menus. The actual location of the actuator is indicated by the Current Position Register 40008.
When a new command position value is written to Register 40010, the new value is compared to the current position value
in Register 40008. If the difference between the twovalues is greater than the sensitivity/deadband value in Register 40010,
the actuator begins moving towards the new command position. When the current position value is within the limits of the
command position and sensitivity/deadband value in Register 40010, the actuator is stopped.
Bit 1 and Bit2 in Register 40001 are also usedto indicate the direction of travel. If the actuator ismoving in the CW direction,
Bit 2 = 1. If the actuator is moving in the CCW direction, Bit 1 = 1. When the actuator reaches the command position value
and is stopped, Bit 1 and Bit 2 will equal 0.
Obstruction or Jam Detection
When a move command is given by either setting Bit 1 and Bit 2 in Register 40009, or by writing valid value to Register
40010, a timer is immediately started. The timer continues to increment once every second. After each increment, the timer
value is compared to the value set in Register 40011 for the Travel Timeout.
If the destination travel limit switch closes, or the position setpoint is reached before the timer value is greaterthan the value
in Register 40011, the actuator is operating normally.
If the destination travel limit switch IS NOT closed, or the position setpoint is not reached before the timer value is greater
than the value in Register 40011, a jam or obstruction has prevented the valve from operating properly. The active motor
output is de-energized, and Bit 5 in Register 40001 is set.
