ATOMI connectors and pinouts - Revision history

Esa at 12:40, 3 July 2017

2017-07-03T12:40:35Z

Esa at 12:27, 7 June 2017

2017-06-07T12:27:15Z

Esa at 11:28, 7 June 2017

2017-06-07T11:28:04Z

Esa: /* X1 - Granity and SimpleMotion V2 connector */

2017-06-07T11:15:10Z

‎X1 - Granity and SimpleMotion V2 connector

Esa at 11:07, 7 June 2017

2017-06-07T11:07:58Z

Esa at 11:44, 6 June 2017

2017-06-06T11:44:08Z

Esa at 13:01, 5 June 2017

2017-06-05T13:01:17Z

Esa at 12:51, 5 June 2017

2017-06-05T12:51:33Z

Esa at 12:47, 5 June 2017

2017-06-05T12:47:33Z

Esa: /* X3 - Additional setpoint and IO connector */

2017-05-19T07:31:21Z

‎X3 - Additional setpoint and IO connector

@@ Line 174: / Line 174: @@
 |-
 | 11||6|| class="inpin" |X_ANAIN|| X analogue setpoint input <sup>A</sup>
-|0 - 3.3 V||12||19|| class="inpin" |Y_GPI2 <sup>P</sup> || Disable positive Y travel <sup>L</sup>
+|0 - 3.3 V <sup>A</sup>||12||19|| class="inpin" |Y_GPI2 <sup>P</sup> || Disable positive Y travel <sup>L</sup>
 |Active low
 |-
@@ Line 194: / Line 194: @@
 |-
 | 21||11|| class="inpin" |Z_ANAIN||Z analogue setpoint input <sup>A</sup>
-|0 - 3.3 V||22||24|| class="inpin" |A_GPI2 <sup>P</sup> || Disable positive A travel <sup>L</sup>
+|0 - 3.3 V <sup>A</sup>||22||24|| class="inpin" |A_GPI2 <sup>P</sup> || Disable positive A travel <sup>L</sup>
 |Active low
 |-

@@ Line 93: / Line 93: @@
 | 7||4|| class="inpin" |HSIN2_Y||Direction input Y
 |Direction input for PWM <sup>D</sup>||8||17|| class="inpin" |AUX_IN||Auxilary transistor input
-|Open-drain buffer gate signal.
+|Open-drain buffer gate signal
 |-
 | 9||5|| class="inpin" |HSIN1_Y||Pulse/step input Y

@@ Line 18: / Line 18: @@
 ! colspan="3" |Notes / Specifications
 |-
-| 1 || class="inpin" | SW || Limit switch, shared for both directions
+| 1 || class="inpin" | Limit || Limit switch, shared for both directions
 | colspan="3" |Internal 2.2 kOhm pull-up resistor
 |-
-| 2 || class="inpin" | CHC / Homeswitch || Encoder channel C (index) / homeswitch
+| 2 || class="inpin" | CHC / Home || Encoder channel C (index) / home switch
 | colspan="3" |Internal 2.2 kOhm pull-up resistor
 |-
@@ Line 48: / Line 48: @@
 |Armature +
 |-
-| 8|| class="outpin" |W / PH3 || Motor phase 3
+| 8|| class="outpin" |PH3 || Motor phase 3
 |W (T)
 |Coil B.1
 |Armature -
 |-
-| 9|| class="outpin" |V / PH2 || Motor phase 2
+| 9|| class="outpin" |PH2 || Motor phase 2
 |V (S)
 |Coil A.2
 |Armature -
 |-
-| 10|| class="outpin" |U / PH1 || Motor phase 1
+| 10|| class="outpin" |PH1 || Motor phase 1
 |U (R)
 |Coil A.1
@@ Line 132: / Line 132: @@
 |}
 Notes:
-* All inputs are logic HIGH with input voltage from 2.7 V to 5 V.
+* Digital inputs accept standard signal levels 2.7 - 5.5 VDC.
-* All outputs source 3.3 V with maximum of 8 mA load.
+* All outputs provide 3.3 V with maximum load of 8 mA.
 * All GPO pins have a 180 Ohm series resistor.
 <sup>D</sup>) PWM can be used with or without direction signal. With PWM setpoint without direction signal 50 % PWM = zero setpoint.
@@ Line 206: / Line 206: @@
 |}
 Notes:
-* All inputs are logic HIGH with input voltage from 2.7 V to 5 V.
+* Digital inputs accept standard signal levels 2.7 - 5.5 VDC.
-* All GPO pins source 3.3 V with maximum of 8 mA load.
+* All GPO pins provide 3.3 V with maximum load of 8 mA.
 * All GPI/O pins have a 180 Ohm series resistor.
 <sup>A</sup>) Setpoint = zero with 50 % input voltage if direction signal is not used.
-<sup>L</sup>) Limit switches are to wired with NO (normally open) switch to ground. When a limit switch is triggered, movement to the corresponding direction is disabled.
+<sup>L</sup>) Limit switches are to be wired with NO (normally open) switch to ground. When a limit switch is triggered, movement to the corresponding direction is disabled.
 <sup>P</sup>) Internal 10 kOhm pull-up resistor.
@@ Line 218: / Line 218: @@
 ===X4 - Power input and STO connector===
-X4 is three pin wire terminal for [[HV DC bus]] supply and [[Safe torque off]].
+X4 is a wire terminal for [[HV DC bus]] supply and [[Safe torque off]].
 {| class="wikitable"
 |-
@@ Line 241: / Line 241: @@
 |-
 | 2 || class="outpin" |CHA || Encoder channel A
-|Direct connection to encoder output
+|Direct connection to encoder output signal
 |-
 | 3 || class="powpin" |GND || GND / 0 V
@@ Line 247: / Line 248: @@
 |-
 | 4 || class="outpin" |CHB || Encoder channel B
-|Direct connection to encoder output
+|Direct connection to encoder output signal
 |-
 | 5 || class="powpin" |GND || GND / 0 V
@@ Line 253: / Line 255: @@
 |-
 | 6 || class="outpin" |CHC || Encoder channel C
-|Direct connection to encoder output
+|Direct connection to encoder output signal
 |}

@@ Line 66: / Line 66: @@
 ===X1 - Granity and SimpleMotion V2 connector===
-Standard mini-USB connector.
+Standard mini-USB connector. Please refer to [[Granity]] pages for further instructions.
 ===X2 - Main setpoint connector===
 {{damage|Connect X2 only to 3.3V or 5V logic systems.}}

@@ Line 16: / Line 16: @@
 |-
 !  Pin number !! Signal name !! Usage
-!Notes / Specifications
+! colspan="3" |Notes / Specifications
 |-
 | 1 || class="inpin" | SW || Limit switch, shared for both directions
-|Internal 2.2 kOhm pull-up resistor
+| colspan="3" |Internal 2.2 kOhm pull-up resistor
 |-
 | 2 || class="inpin" | CHC / Homeswitch || Encoder channel C (index) / homeswitch
-|Internal 2.2 kOhm pull-up resistor
+| colspan="3" |Internal 2.2 kOhm pull-up resistor
 |-
 | 3 || class="inpin" | CHB || Encoder channel B
-|Internal 2.2 kOhm pull-up resistor
+| colspan="3" |Internal 2.2 kOhm pull-up resistor
 |-
 | 4 || class="inpin" | CHA || Encoder channel A
-|Internal 2.2 kOhm pull-up resistor
+| colspan="3" |Internal 2.2 kOhm pull-up resistor
 |-
 | 5|| class="powpin" |+5 V || 5 V supply voltage to encoder
-|Total 1.5 A current limit for +5 V bus
+| colspan="3" |Total 1.5 A current limit for +5 V bus
 |-
 | 6|| class="powpin" |GND || Encoder supply ground / 0 V
-|Also ground for cable shield
+| colspan="3" |Also ground for cable shield
 |-
 | 7|| class="outpin" |PH4 || Motor phase 4
-|'''Stepper motor:''' Coil B.2, '''Brush DC motor:''' Armature +
+| -
 |-
-| 8|| class="outpin" |W / PH3 || Motor phase 3 / '''AC/BLDC motor''' phase W (T)
+| 8|| class="outpin" |W / PH3 || Motor phase 3
-|'''Stepper motor:''' Coil B.1, '''Brush DC motor:''' Armature -
+|W (T)
 |-
-| 9|| class="outpin" |V / PH2 || Motor phase 2 / '''AC/BLDC motor''' phase V (S)
+| 9|| class="outpin" |V / PH2 || Motor phase 2
-|'''Stepper motor:''' Coil A.2, '''Brush DC motor:''' Armature -
+|V (S)
 |-
-| 10|| class="outpin" |U / PH1 || Motor phase 1 / '''AC/BLDC motor''' phase U (R)
+| 10|| class="outpin" |U / PH1 || Motor phase 1
-|'''Stepper motor:''' Coil A.1, '''Brush DC motor:''' Armature +
+|U (R)
 |}
 ===X1 - Granity and SimpleMotion V2 connector===
+Standard mini-USB connector.
 ===X2 - Main setpoint connector===
 {{damage|Connect X2 only to 3.3V or 5V logic systems.}}
@@ Line 139: / Line 154: @@
 |-
 | 3||2|| class="powpin" |GND||GND / 0 V
-| -||4||15|| class="outpin" |Global_IO4 <sup>P</sup>||Global IO 4
+| -||4||15|| class="outpin" |Global_IO4 <sup>P</sup>||Reserved for future use
 |Reserved for future use
 |-
-| 5||3|| class="outpin" |AUX_OUT <sup>S</sup>||Buffered output for AUX_IN
+| 5||3|| class="outpin" |AUX_OUT <sup>S</sup>||Inverter buffer for AUX_IN
 |24 V 500 mA open-drain buffer.
 Active when AUX_IN = HIGH.
@@ Line 157: / Line 172: @@
 |Active low
 |-
-| 11||6|| class="inpin" |X_ANAIN <sup>A</sup>|| X analogue setpoint input
+| 11||6|| class="inpin" |X_ANAIN|| X analogue setpoint input <sup>A</sup>
 |0 - 3.3 V||12||19|| class="inpin" |Y_GPI2 <sup>P</sup> || Disable positive Y travel <sup>L</sup>
 |Active low
@@ Line 166: / Line 181: @@
 |-
 | 15||8|| class="outpin" |Y_GPO2||Y tracking error
-|Active low||16||21|| class="inpin" |Y_ANAIN <sup>A</sup> || Y analogue setpoint input
+|Active low||16||21|| class="inpin" |Y_ANAIN || Y analogue setpoint input
-|0 - 3.3 V
+|0 - 3.3 V <sup>A</sup>
 |-
 | 17||9|| class="inpin" |Z_GPI2 <sup>P</sup>||Disable positive Z travel <sup>L</sup>
@@ Line 177: / Line 192: @@
 |Active low
 |-
-| 21||11|| class="inpin" |Z_ANAIN <sup>A</sup>||Z analogue setpoint input
+| 21||11|| class="inpin" |Z_ANAIN||Z analogue setpoint input <sup>A</sup>
 |0 - 3.3 V||22||24|| class="inpin" |A_GPI2 <sup>P</sup> || Disable positive A travel <sup>L</sup>
 |Active low
@@ Line 186: / Line 201: @@
 |-
 | 25||13|| class="outpin" |A_GPO2||A tracking error
-|Active low||26||N/A|| class="inpin" | A_ANAIN <sup>A</sup> ||A analogue setpoint input
+|Active low||26||N/A|| class="inpin" | A_ANAIN ||A analogue setpoint input
-|0 - 3.3 V
+|0 - 3.3 V <sup>A</sup>
 |}
 Notes:
@@ Line 205: / Line 220: @@
 {| class="wikitable"
 |-
-!  Pin number !! Signal name !! Usage !! Electrical
+!  Pin number !! Signal name !! Usage !! Notes / Specifications
 |-
-| 1 || class="powpin" | GND|| Ground ||
+| 1 || class="powpin" | GND|| Ground || -
 |-
-| 2|| class="inpin" |STO || [[Safe torque off]] || 3.3 - 49 V
+| 2|| class="inpin" |STO || [[Safe torque off]] || 3.3 - 49 V input voltage
 |-
-| 3|| class="powpin" |HV+ || Motor power supply, [[HV DC bus]] || 12 - 49 V
+| 3|| class="powpin" |HV+ || Motor power supply, [[HV DC bus]] || 12 - 49 V, 18 A maximum current through connector
 |}
@@ Line 219: / Line 234: @@
 |-
 !  Pin number !! Signal name !! Usage
 |-
 | 1 || class="powpin" | +5V|| +5 V supply
 |-
 | 2 || class="outpin" |CHA || Encoder channel A
 |-
 | 3 || class="powpin" |GND || GND / 0 V
 |-
 | 4 || class="outpin" |CHB || Encoder channel B
 |-
 | 5 || class="powpin" |GND || GND / 0 V
 |-
 | 6 || class="outpin" |CHC || Encoder channel C
 |}

@@ Line 77: / Line 77: @@
 | 7||4|| class="inpin" |HSIN2_Y||Direction input Y
 |Direction input for PWM <sup>D</sup>||8||17|| class="inpin" |AUX_IN||Auxilary transistor input
-|Gate for open-drain buffer
+|Open-drain buffer gate signal.
 |-
 | 9||5|| class="inpin" |HSIN1_Y||Pulse/step input Y
-|PWM setpoint||10||18|| class="powpin" |GND|| rowspan="8" |Ground / 0 V
+|PWM setpoint||10||18|| class="powpin" |GND|| rowspan="9" |Ground / 0 V
 | -
 |-
@@ Line 112: / Line 112: @@
 |-
 | 25||13|| class="outpin" |GPO1_A <sup>P</sup>||A  axis servo ready signal
-|Active low||26||N/A|| class="powpin" |GND||
+|Active low||26||N/A|| class="powpin" |GND
 | -
 |}
@@ Line 118: / Line 118: @@
 * All inputs are logic HIGH with input voltage from 2.7 V to 5 V.
 * All outputs source 3.3 V with maximum of 8 mA load.
 <sup>D</sup>) PWM can be used with or without direction signal. With PWM setpoint without direction signal 50 % PWM = zero setpoint.
@@ Line 128: / Line 129: @@
 {| class="wikitable"
 ! Pin number in header!!Pin number in D25 cable!!Signal name!!Typical usage
 | rowspan="14" class="tableseparator" |
 !Pin number in header!!Pin number in D25 cable!!Signal name!!Typical usage
 |-
-| 1||1|| class="powpin" |GND |||GND / 0 V||2||14|| class="powpin" |+5V|| +5 V supply
+| 1||1|| class="powpin" |GND |||GND / 0 V
 |-
-| 3||2|| class="powpin" |GND||GND / 0 V||4||15|| class="outpin" |Global_IO4||Global IO 4
+| 3||2|| class="powpin" |GND||GND / 0 V
 |-
-| 5||3|| class="outpin" |AUX_OUT <sup>1</sup>||Buffered output for AUX_IN||6||16|| class="outpin" |ANA_OUT||PWM to analogue converter output, 0 to 5 V
+| 5||3|| class="outpin" |AUX_OUT <sup>S</sup>||Buffered output for AUX_IN
 |-
-| 7||4|| class="inpin" |X_GPI2 <sup>P</sup>||Enable positive X travel||8||17|| class="inpin" |X_GPI3 <sup>P</sup>||Enable negative X travel
+| 7||4|| class="inpin" |X_GPI2 <sup>P</sup>||Disable positive X travel <sup>L</sup>
 |-
-| 9||5|| class="outpin" |X_GPO4||X position within limits||10||18|| class="outpin" | X_GPO2 || X tracking error
+| 9||5|| class="outpin" |X_GPO4||X position within limits
 |-
-| 11||6|| class="inpin" |X_ANAIN|| X analogue setpoint input||12||19|| class="inpin" |Y_GPI2 <sup>P</sup> || Enable positive Y travel
+| 11||6|| class="inpin" |X_ANAIN <sup>A</sup>|| X analogue setpoint input
 |-
-| 13||7|| class="inpin" |Y_GPI3 <sup>P</sup>||Enable negative Y travel||14||20|| class="outpin" | Y_GPO4 ||Y position within limits
+| 13||7|| class="inpin" |Y_GPI3 <sup>P</sup>||Disable negative Y travel <sup>L</sup>
 |-
-| 15||8|| class="outpin" |Y_GPO2||Y tracking error||16||21|| class="inpin" |Y_ANAIN || Y analogue setpoint input
+| 15||8|| class="outpin" |Y_GPO2||Y tracking error
 |-
-| 17||9|| class="inpin" |Z_GPI2 <sup>P</sup>||Enable positive Z travel||18||22|| class="inpin" |Z_GPI3 <sup>P</sup> || Enable positive Z travel
+| 17||9|| class="inpin" |Z_GPI2 <sup>P</sup>||Disable positive Z travel <sup>L</sup>
 |-
-| 19||10|| class="outpin" |Z_GPO4|| Z position within limits ||20||23|| class="outpin" |Z_GPO2 || Z tracking error
+| 19||10|| class="outpin" |Z_GPO4|| Z position within limits
 |-
-| 21||11|| class="inpin" |Z_ANAIN||Z analogue setpoint input||22||24|| class="inpin" |A_GPI2 <sup>P</sup> || Enable positive A travel
+| 21||11|| class="inpin" |Z_ANAIN <sup>A</sup>||Z analogue setpoint input
 |-
-| 23||12|| class="inpin" |A_GPI3 <sup>P</sup>||Enable negative A travel||24||25|| class="outpin" |A_GPO4 || A position within limits
+| 23||12|| class="inpin" |A_GPI3 <sup>P</sup>||Disable negative A travel <sup>L</sup>
 |-
-| 25||13|| class="outpin" |A_GPO2||A tracking error||26||N/A|| class="inpin" | A_ANAIN ||A analogue setpoint input
+| 25||13|| class="outpin" |A_GPO2||A tracking error
 |}
 Notes:
 * All inputs are logic HIGH with input voltage from 2.7 V to 5 V.
 * All GPO pins source 3.3 V with maximum of 8 mA load.
-<sup>1</sup>) Open-drain buffer with 24 V 500 mA maximum rating. Active when AUX_IN = HIGH.
+* All GPI/O pins have a 180 Ohm series resistor.
 <sup>P</sup>) Internal 10 kOhm pull-up resistor.
 ===X4 - Power input and STO connector===

@@ Line 112: / Line 112: @@
 |-
 | 25||13|| class="outpin" |GPO1_A <sup>P</sup>||A  axis servo ready signal
-|Active low||26||N/A||GND||
+|Active low||26||N/A|| class="powpin"|GND||
 |Internally connected to GND
 |}

@@ Line 16: / Line 16: @@
 |-
 !  Pin number !! Signal name !! Usage
 |-
 | 1 || class="inpin" | SW || Limit switch, shared for both directions
 |-
 | 2 || class="inpin" | CHC / Homeswitch || Encoder channel C (index) / homeswitch
 |-
 | 3 || class="inpin" | CHB || Encoder channel B
 |-
 | 4 || class="inpin" | CHA || Encoder channel A
 |-
 | 5|| class="powpin" |+5 V || 5 V supply voltage to encoder
 |-
 | 6|| class="powpin" |GND || Encoder supply ground / 0 V
 |-
 | 7|| class="outpin" |PH4 || Motor phase 4
 |-
-| 8|| class="outpin" |W / PH3 || Motor phase 3 / Servo W
+| 8|| class="outpin" |W / PH3 || Motor phase 3 / '''AC/BLDC motor''' phase W (T)
 |-
-| 9|| class="outpin" |V / PH2 || Motor phase 2 / Servo V
+| 9|| class="outpin" |V / PH2 || Motor phase 2 / '''AC/BLDC motor''' phase V (S)
 |-
-| 10|| class="outpin" |U / PH1 || Motor phase 1 / Servo U
+| 10|| class="outpin" |U / PH1 || Motor phase 1 / '''AC/BLDC motor''' phase U (R)
 |}
@@ Line 47: / Line 58: @@
 {| class="wikitable"
 ! Pin number in header!!Pin number in D25 cable!!Signal name!!Typical usage
 | rowspan="14" class="tableseparator" |
 !Pin number in header!!Pin number in D25 cable!!Signal name!!Typical usage
 |-
-| 1||1|| class="inpin" |ENABLE |||Enable all axis (with or without chargepump)||2||14|| class="inpin" |Homing|| Start homing for all axis
+| 1||1|| class="inpin" |ENABLE <sup>P</sup> |||Enable all axis
 |-
-| 3||2|| class="inpin" |HSIN2_X||Direction input X||4||15|| class="outpin" |Global_GPO3||Global fault output
+| 3||2|| class="inpin" |HSIN2_X||Direction input X
 |-
-| 5||3|| class="inpin" |HSIN1_X||Pulse/step input X||6||16|| class="inpin" |PWM2ANA||PWM to analogue converter input
+| 5||3|| class="inpin" |HSIN1_X||Pulse/step input X
 |-
-| 7||4|| class="inpin" |HSIN2_Y||Direction input Y||8||17|| class="inpin" |AUX_IN||Auxilary transistor input
+| 7||4|| class="inpin" |HSIN2_Y||Direction input Y
 |-
-| 9||5|| class="inpin" |HSIN1_Y||Pulse/step input Y||10||18|| class="powpin" |GND|| rowspan="8" |Ground / 0 V
+| 9||5|| class="inpin" |HSIN1_Y||Pulse/step input Y
 |-
-| 11||6|| class="inpin" |HSIN2_Z||Direction input Z||12||19|| class="powpin" |GND
+| 11||6|| class="inpin" |HSIN2_Z||Direction input Z
 |-
-| 13||7|| class="inpin" |HSIN1_Z||Pulse/step input Z||14||20|| class="powpin" |GND
+| 13||7|| class="inpin" |HSIN1_Z||Pulse/step input Z
 |-
-| 15||8|| class="inpin" |HSIN2_A||Direction input A||16||21|| class="powpin" |GND
+| 15||8|| class="inpin" |HSIN2_A||Direction input A
 |-
-| 17||9|| class="inpin" |HSIN1_A||Pulse/step input A||18||22|| class="powpin" |GND
+| 17||9|| class="inpin" |HSIN1_A||Pulse/step input A
 |-
-| 19||10|| class="outpin" |GPO1_X <sup>P</sup>|| X axis servo ready signal ||20||23|| class="powpin" |GND
+| 19||10|| class="outpin" |GPO1_X <sup>P</sup>|| X axis servo ready signal
 |-
-| 21||11|| class="outpin" |GPO1_Y <sup>P</sup>||Y axis servo ready signal||22||24|| class="powpin" |GND
+| 21||11|| class="outpin" |GPO1_Y <sup>P</sup>||Y axis servo ready signal
 |-
-| 23||12|| class="outpin" |GPO1_Z <sup>P</sup>||Z  axis servo ready signal||24||25|| class="powpin" |GND
+| 23||12|| class="outpin" |GPO1_Z <sup>P</sup>||Z  axis servo ready signal
 |-
-| 25||13|| class="outpin" |GPO1_A <sup>P</sup>||A  axis servo ready signal||26||N/A||Not connected||
+| 25||13|| class="outpin" |GPO1_A <sup>P</sup>||A  axis servo ready signal
 |}
 Notes:
 * All inputs are logic HIGH with input voltage from 2.7 V to 5 V.
 * All outputs source 3.3 V with maximum of 8 mA load.
 <sup>P</sup>) Internal 10 kOhm pull-up resistor.