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− | + | ===Legend=== | |
− | + | {| class="wikitable" | |
− | + | |- | |
− | + | ! Color | |
− | + | |- | |
− | | | + | | class="powpin"|Supply pin |
− | | | + | |- |
− | | | + | | class="inpin"|Input pin |
− | | | + | |- |
− | | | + | | class="outpin"|Output pin |
− | | | + | |} |
− | | | + | |
− | + | ||
− | + | ===Motor & E-stop connector=== | |
+ | Pin 1 is the left-most. | ||
− | + | {| class="wikitable" | |
+ | |- | ||
+ | ! Pin number !! Signal name !! Usage | ||
+ | |- | ||
+ | | 1 ||class="outpin"| U / PH1|| Motor phase 1 | ||
+ | |- | ||
+ | | 2 ||class="outpin"| V / PH2|| Motor phase 2 | ||
+ | |- | ||
+ | | 3 ||class="outpin"| W / PH3|| Motor phase 3 | ||
+ | |- | ||
+ | | 4 ||class="outpin"| PH4|| Motor phase 4 | ||
+ | |- | ||
+ | | 5|| class="powpin"|GND || Ground voltage (0 V) of the SimuCUBE | ||
+ | |- | ||
+ | | 6|| class="inpin"|E-Stop / STO || External stop / Safe Torque Off input pin (active high) | ||
+ | |- | ||
+ | | 7|| class="powpin"|+5 V || 5 V supply voltage. | ||
+ | |} | ||
+ | ===Motor position sensor connector=== | ||
+ | A, B, and C indicate the quadrature encoder differential signals. | ||
− | = | + | {| 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 | |
− | + | |- | |
− | + | | 2||class="inpin"|HALL_V||Hall sensor digital input V | |
− | + | |- | |
− | + | | 3||class="inpin"|HALL_U||Hall sensor digital input U | |
− | + | |- | |
+ | | 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|| IONI GPI3 input | ||
+ | |- | ||
+ | | 12|| class="inpin"|GPI2|| IONI GPI2 input | ||
+ | |- | ||
+ | | 13|| class="inpin"|GPI1|| IONI GPI1 input | ||
+ | |- | ||
+ | | 14|| class="inpin"|C-||Encoder differential input C- | ||
+ | |- | ||
+ | | 15||class="inpin"| C+||Encoder differential input C+ | ||
+ | |} | ||
− | == | + | ===RJ45-1 (top-left)=== |
− | + | Pin 1 is the right-most. These are active-low with an internal 3.3 kOhm pull-up resistor. | |
+ | {| class="wikitable" | ||
+ | |- | ||
+ | ! Pin number !! Signal name !! Usage | ||
+ | |- | ||
+ | | 1 ||class="inpin"| Button 12|| | ||
+ | |- | ||
+ | | 2 ||class="inpin"| Button 7|| | ||
+ | |- | ||
+ | | 3 ||class="inpin"| Button 8|| | ||
+ | |- | ||
+ | | 4 ||class="inpin"| Button 9|| | ||
+ | |- | ||
+ | | 5 ||class="inpin"| Button 10|| | ||
+ | |- | ||
+ | | 6 ||class="inpin"| Button 6|| | ||
+ | |- | ||
+ | | 7 ||class="inpin"| Button 11|| | ||
+ | |- | ||
+ | | 8 ||class="powpin"| GND / 0 V|| | ||
+ | |} | ||
− | == | + | ===RJ45-2 (bottom-left)=== |
− | + | Pin 1 is the right-most. These are active-low with an internal 3.3 kOhm pull-up resistor. | |
+ | {| class="wikitable" | ||
+ | |- | ||
+ | ! Pin number !! Signal name !! Usage | ||
+ | |- | ||
+ | | 1 ||class="inpin"| Button 3|| | ||
+ | |- | ||
+ | | 2 ||class="inpin"| Button 4|| | ||
+ | |- | ||
+ | | 3 ||class="inpin"| Button 2|| | ||
+ | |- | ||
+ | | 4 ||class="inpin"| Button 5|| | ||
+ | |- | ||
+ | | 5 ||class="inpin"| Button 13|| | ||
+ | |- | ||
+ | | 6 ||class="inpin"| Button 14|| | ||
+ | |- | ||
+ | | 7 ||class="inpin"| Button 15|| | ||
+ | |- | ||
+ | | 8 ||class="powpin"| GND / 0 V|| | ||
+ | |} | ||
− | + | ===RJ45-3 (top-right)=== | |
− | + | Pin 1 is the right-most. | |
+ | {| class="wikitable" | ||
+ | |- | ||
+ | ! Pin number !! Signal name !! Usage | ||
+ | |- | ||
+ | | 1 ||class="inpin"| Brake|| ADC input for brake pedal | ||
+ | |- | ||
+ | | 2 ||class="inpin"| Throttle|| ADC input for throttle pedal | ||
+ | |- | ||
+ | | 3 ||class="inpin"| ADC-14|| ADC input | ||
+ | |- | ||
+ | | 4 ||class="powpin"| 5V_OUT|| +5 V supply | ||
+ | |- | ||
+ | | 5 ||class="inpin"| Clutch|| ADC input for clutch pedal | ||
+ | |- | ||
+ | | 6 ||class="inpin"| ADC-7|| ADC input | ||
+ | |- | ||
+ | | 7 ||class="inpin"| CLK_OUT|| | ||
+ | |- | ||
+ | | 8 ||class="powpin"| GND / 0 V|| | ||
+ | |} | ||
+ | |||
+ | ===RJ45-4 (bottom-right)=== | ||
+ | Pin 1 is the right-most. | ||
+ | {| class="wikitable" | ||
+ | |- | ||
+ | ! Pin number !! Signal name !! Usage | ||
+ | |- | ||
+ | | 1 ||class="inpin"| Button 16|| | ||
+ | |- | ||
+ | | 2 ||class="inpin"| ADC-13|| ADC input | ||
+ | |- | ||
+ | | 3 ||class="inpin"| ADC-3|| ADC input | ||
+ | |- | ||
+ | | 4 ||class="powpin"| 5V_OUT|| +5 V supply | ||
+ | |- | ||
+ | | 5 ||class="inpin"| DAC-1|| | ||
+ | |- | ||
+ | | 6 ||class="inpin"| DAC-2|| | ||
+ | |- | ||
+ | | 7 ||class="inpin"| ADC-6|| ADC input | ||
+ | |- | ||
+ | | 8 ||class="powpin"| GND / 0 V|| | ||
+ | |} |