Editing Connecting motor to SimuCUBE

Connecting motor to SimuCUBE involves wiring motor power and [[Feedback devices|Feedback device]] (encoder) to the corresponding connectors. This page instructs making these connections properly.

{{Picturebox|simucubeboxcabling_annotated.jpg|caption=Cabling of SimuCUBE. 
*X1 - 7 pin terminal for motor power and E-stop
*X16 - Motor feedback device/encoder input
*X3 - USB connector (HID/game controller)
*X4 - USB connector (Granity/IONI configuration)
*AC - 110-240 VAC power inlet
*X12A & X12B - External button inputs (optional)
*X13A - Pedal inputs (optional)
*X11B - External analog inputs (optional)
*A - E-Stop (normally closed/conducting switch)
*B - Motor power cable
*C - Motor encoder cable
*D - USB to PC (HID/game controller)
*E - USB to PC (Granity/IONI configuration)
*F - AC power cord. }}

== Motor power ==
Motor power cable consists windings and the protective earth conductors. In 3 phase AC servo motor there are four conductors and they should be connected to X1 terminal block according to the table below:

{| class="wikitable"
|-
!  Pin number !! Signal name !! Function
!Usage
|-
| 1 || class="outpin" | U / PH1|| Motor phase 1
|AC servo motor phase U
|-
| 2 || class="outpin" | V / PH2|| Motor phase 2
|AC servo motor phase V
|-
| 3 || class="outpin" | W / PH3|| Motor phase 3
|AC servo motor phase W
|-
| 4 || class="outpin" | PH4|| Motor phase 4
|Used only with 2-phase stepping motor
|-
| 5|| class="powpin" |GND || Motor protective earth conductor
|The yellow/green wire
|-
| 6|| class="inpin" |E-Stop / STO || E-Stop switch input
| rowspan="2" |Normall closed (conducting) E-Stop switch goes between pins 6 and 7
|-
| 7|| class="powpin" |+5 V || 5 VDC output (max 100 mA)
|}

Refer your motor manufacturer's data sheet/specifications to identify wire colors of U, V and W phases.

== Motor feedback device ==
Feedback device (in this case position sensor, usually encoder) need to be connected to SimuCUBE X16 input. X16 connector type on SimuCUBE is ''D-Sub 15 pin female with two pin rows'', so the mating part is ''D-Sub 15 pin male connector with two pin rows''. 

=== Case A: pre-made encoder cable ===
If you have a motor that comes with pre-made encoder cable with SimuCUBE, [[IONI Servo & Stepper Drive|IONI]] or [[ARGON]] compatible connector, then simply plug this connector to SimuCUBE X16.

=== Case B: make encoder connection ===
[[File:dsub15male2row.jpg|thumb|225px|right|Mating X16 connector to SimuCUBE (D-Sub 15 pins, male, 2 rows, with solder cups)]][[File:dsub15hood.jpg|225px|thumb|D-Sub connector hood (15 pin size, 4-40 threaded screws)]]If motor encoder cable comes with bare wire ends, or with incompatible connector, then soldering a D-Sub connector with SimuCUBE pin-out is necessary.
{| class="wikitable"
|-
! Pin # !! Pin name !! Electrical type (in most feedback device modes)
|-
| Shell|| class="powpin" |GND||Earth / 0 V
|-
| 1|| class="inpin" |HALL_W||Hall sensor digital input W ''(optional)''
|-
| 2|| class="inpin" |HALL_V||Hall sensor digital input V ''(optional)''
|-
| 3|| class="inpin" |HALL_U||Hall sensor digital input U ''(optional)''
|-
| 4|| class="powpin" |GND||Encoder supply ground / 0 V
|-
| 5|| class="inpin" |B-||Encoder differential input B-
|-
| 6|| class="inpin" |B+||Encoder differential input B+
|-
| 7|| class="inpin" |A-||Encoder differential input A-
|-
| 8|| class="inpin" |A+||Encoder differential input A+
|-
| 9|| class="powpin" |5V_OUT||Encoder supply +5 V output
|-
| 10|| class="powpin" |GND ||Encoder supply ground / 0 V
|-
| 11|| class="inpin" |GPI3|| ''no connection''
|-
| 12|| class="inpin" |GPI2|| ''no connection''
|-
| 13|| class="inpin" |GPI1|| ''no connection''
|-
| 14|| class="inpin" |C-||Encoder differential input C-
|-
| 15|| class="inpin" | C+||Encoder differential input C+
|}

In the table above, A, B, and C indicate the quadrature encoder differential signals. C channel is often also denoted as Z, Index or IDX. Refer your motor manufacturer's data sheet/specifications to identify wire colors for encoder signals. Pay extra attention to 5V and GND wiring as miswiring these may cause permanent damage to the encoder.

==== Making encoder connector ====
List of needed items & skills for making the encoder connector:
* D-Sub connector and connector hood, see [[List of D-Sub 15 pin connector parts]]
* Wire cutters & wire stripping tools
* Soldering iron
* Soldering skills
* Motor manufacturer's data sheet where wire colors and signals are specified

===Legend===
Colors codes in the pin-out tables:
{| class="wikitable"
|-
! Color
|-
| class="powpin" |Supply pin
|-
| class="inpin" |Input pin
|-
| class="outpin" |Output pin
|}