Difference between revisions of "IONI connector pinout"

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| A14||class="inpin"|HALL_V||B14||class="inpin"|HALL_U
 
| A14||class="inpin"|HALL_V||B14||class="inpin"|HALL_U
 
|-
 
|-
−
| A15||class="inpin"|CHA-||B15||class="inpin"|CHA+
+
| A15||class="inpin"|A-||B15||class="inpin"|A+
 
|-
 
|-
−
| A16||class="inpin"|CHB-||B16||class="inpin"|CHB+
+
| A16||class="inpin"|B-||B16||class="inpin"|B+
 
|-
 
|-
−
| A17||class="inpin"|CHC-||B17||class="inpin"|CHC+
+
| A17||class="inpin"|C-||B17||class="inpin"|C+
 
|}
 
|}
  
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| HALL_U|| colspan=2 |Digital input U || Hall sensor input, phase U  
 
| HALL_U|| colspan=2 |Digital input U || Hall sensor input, phase U  
 
|-
 
|-
−
| CHA-||Differential input A-|| Analog input A-||rowspan=2|Quadrature encoder (A channel)/SinCos A
+
| A-||Differential input A-|| Analog input A-||rowspan=2|Quadrature encoder (A channel)/SinCos A
 
|-
 
|-
−
| CHA+||Differential input A+|| Analog input A+
+
| A+||Differential input A+|| Analog input A+
 
|-
 
|-
−
| CHB-||Differential input B-|| Analog input B+||rowspan=2|Quadrature encoder (B channel)/SinCos B
+
| B-||Differential input B-|| Analog input B+||rowspan=2|Quadrature encoder (B channel)/SinCos B
 
|-
 
|-
−
| CHB+||Differential input B+|| Analog input B-
+
| B+||Differential input B+|| Analog input B-
 
|-
 
|-
−
|  CHC-||colspan=2 |Differential input C- ||rowspan=2|Quadrature encoder index channel (Z channel)
+
|  C-||colspan=2 |Differential input C- ||rowspan=2|Quadrature encoder index channel (Z channel)
 
|-
 
|-
−
|  CHC+||colspan=2 |Differential input C+
+
|  C+||colspan=2 |Differential input C+
 
|}
 
|}
 
{{info|In case of single-ended encoder, connect encoder's A, B, Z only to drive's CHA+, CHB+ and CHC+ and leave drive's CHA-, CHB- and CHC- unconnected.}}
 
{{info|In case of single-ended encoder, connect encoder's A, B, Z only to drive's CHA+, CHB+ and CHC+ and leave drive's CHA-, CHB- and CHC- unconnected.}}
 
{{info|With differential Hall sensor (which provides U+, U-, V+, V-, W+ and W-, connect only sensor's U+, V+ and W+ to drive's HALL_U/V/W. }}
 
{{info|With differential Hall sensor (which provides U+, U-, V+, V-, W+ and W-, connect only sensor's U+, V+ and W+ to drive's HALL_U/V/W. }}
−
{{info|Never connect sensor negative outputs (A-/B-/C-/U-/V-/W-) to GND. Connect them to drive's CHA-/B-/C- or leave unconnected.}}
+
{{info|Never connect sensor negative outputs (A-/B-/C-/U-/V-/W-) to GND. Connect them to drive's A-/B-/C- or leave unconnected.}}
 
{{tip|Feedback devices with [[differential signaling]] may use varying naming schemes of signal pairs. For example differential signal X (which contains two electrical wires) may be denoted as: X+ and X-, or X and \X or X and {{overline|X}}. In this Wiki we mark them X+ and X-. Some Fanuc encoders have quadrature signals named as PCA, /PCA, PCB, /PCB, PCZ and /PCZ which are equivalent to A, B and Z signal pairs.}}
 
{{tip|Feedback devices with [[differential signaling]] may use varying naming schemes of signal pairs. For example differential signal X (which contains two electrical wires) may be denoted as: X+ and X-, or X and \X or X and {{overline|X}}. In this Wiki we mark them X+ and X-. Some Fanuc encoders have quadrature signals named as PCA, /PCA, PCB, /PCB, PCZ and /PCZ which are equivalent to A, B and Z signal pairs.}}
  
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| HALL_U/V/W||Logic low -0.3-1.0V, logic high 2.7-5.5V||- ||2.2k
 
| HALL_U/V/W||Logic low -0.3-1.0V, logic high 2.7-5.5V||- ||2.2k
 
|-
 
|-
−
| CHA/B/C+ ||RS422 receiver, 2.7-5.5V signal level||- ||2.2k
+
| A/B/C+ ||RS422 receiver, 2.7-5.5V signal level||- ||2.2k
 
|-
 
|-
−
| CHA/B/C-||RS422 receiver, 2.7-5.5V signal level|| - ||1.1k pull to 2.5V
+
| A/B/C-||RS422 receiver, 2.7-5.5V signal level|| - ||1.1k pull to 2.5V
 
|}
 
|}
 
[[category:IONI]]
 
[[category:IONI]]
 
[[category:IONI user guide]]
 
[[category:IONI user guide]]

Revision as of 22:59, 24 March 2015

IONI card edge connector fits into a standard PCI-Express 8X socket connector.

Pinout

Location of pins B1 to B49. A1 to A49 are on same order except on the opposite side of board.
IONI pin-out
Color
Power pin
Input pin
Output pin
Mixed or other purpose

The pinout of IONI drive is provided in the following table.

I/O and low voltage signals
Pin Signal name Pin Signal name
A1 GND B1 5V_IN
A2 RS485_A B2 RS485_B
A3 ADDRSEL1 B3 ADDRSEL2
A4 HSIN1 B4 HSIN2
A5 ANAIN- B5 ANAIN+
A6 GPI1 B6 GPI2
A7 GPI3 B7 GPI4
A8 GPO1 B8 GPO2
A9 GPO3 B9 GPO4
A10 GPO5 B10 GPI5
A11 REGEN_OUT B11 MECH_BRAKE_OUT
A12 ENABLE_IN B12 Reserved/NC
A13 STO2 B13 HALL_W
A14 HALL_V B14 HALL_U
A15 A- B15 A+
A16 B- B16 B+
A17 C- B17 C+
Power signals
Pin Signal name Pin Signal name
A18-A22 GND B18 Not connected
A23 Not connected B19-B22 HV+
A24-A27 PHASE1 B23 Not connected
A28 Not connected B24-B27 PHASE2
A29-A37 PHASE3 B28 Not connected
A38 Not connected B29-B37 PHASE4
A39-A43 PHASE1 B38 Not connected
A44 Not connected B39-B43 PHASE2
A45-A49 GND B44 Not connected
B45-B49 HV+

Note 1: pins marked as Not connected are left empty for to make larger clearance for high voltage signals. Leave these pins unconnected on motherboard designs.

Note 2: Each power signal is present in two pin groups (internally parallel) and these signals should be wired parallel on motherboard.

Signal assignment

General purpose I/O (GPI/GPO)

The table below summarizes the default functions for GPIO pins.

Connecting GPI/GPO's are not mandatory. All of the same functions may be also accessed via SimpleMotion V2 interface.
Signal name Function Used for Remarks
GPI1 Home switch Homing reference switch (optional), can also disable homing, or use Hard-stop homing without switch Note 1
GPI2 Enable positive feed Axis positive direction end limit switch (optional) Normally closed switch. When switch is open, motion/force in positive direction is prevented. 1
GPI3 Enable negative feed Axis negative direction end limit switch (optional) Normally closed switch. When switch is open, motion/force in negative direction is prevented. 1
GPI4 Clear faults Rising logic edge on this pin will clear fault state of drive In IONICUBE mode, also rising edge of enable signal will clear faults.
GPI5 Start homing Rising logic edge on this pin will start homing if homing is enabled
GPO1 Servo ready Use to indicate controller that drive is ready Logic 1 when drive has been initialized, enabled and ready to follow setpoint commands. If homing is enabled, then servo ready will be logic 1 after homing is successfully completed.
GPO2 Tracking error warning Use to indicate controller when drive is having difficulties following the setpoint before a tracking fault occurs Logic 1 when tracking error (position or velocity, depending on control mode) is greater than 1/8 of configured fault trigger level.
GPO3 Fault state Use to indicate controller that drive is stopped due to fault state In IONICUBE mode GPO3 goes logic 0 after when enable signal is set low (for Mach3 compatibility).
GPO4 2-way travel allowed Use to indicate controller when axis is allowed to move in both directions (i.e. any limit switches not hit or axis lies within an optional homing defined limited travel range)
GPO5 Reserved

1) Connect switch between GND and GPIn pin

Setpoint signals

Setpoint mode is selected by software with parameter CRI and behavior is affected by parameters CIS, MUL, DIV, CAO and CED.

Drive listens setpoint commands also always through SimpleMotion V2 interface regardess of CRI paramter setting.
Signal name Function Used for Remarks
HSIN1 High speed digital input 1 Depending in setpoint mode, can be either: direction input (of pulse/dir or PWM) or quadrature A input
HSIN2 High speed digital input 2 Depending in setpoint mode, can be either: pulse input (of pulse/dir), PWM input or quadrature B input
ANAIN- Differential analog negative input Used for analog setpoint mode Setpoint voltage is the voltage difference between ANAIN+ and ANAIN-
ANAIN+ Differential analog positive input Used for analog setpoint mode

Feedback device signals

Signal name # Electrical type (in most feedback device modes) Alternate electrical type (in some feedback device modes) Connection with various feedback devices
HALL_W Digital input W Hall sensor input, phase W
HALL_V Digital input V Hall sensor input, phase V
HALL_U Digital input U Hall sensor input, phase U
A- Differential input A- Analog input A- Quadrature encoder (A channel)/SinCos A
A+ Differential input A+ Analog input A+
B- Differential input B- Analog input B+ Quadrature encoder (B channel)/SinCos B
B+ Differential input B+ Analog input B-
C- Differential input C- Quadrature encoder index channel (Z channel)
C+ Differential input C+
In case of single-ended encoder, connect encoder's A, B, Z only to drive's CHA+, CHB+ and CHC+ and leave drive's CHA-, CHB- and CHC- unconnected.
With differential Hall sensor (which provides U+, U-, V+, V-, W+ and W-, connect only sensor's U+, V+ and W+ to drive's HALL_U/V/W.
Never connect sensor negative outputs (A-/B-/C-/U-/V-/W-) to GND. Connect them to drive's A-/B-/C- or leave unconnected.
Feedback devices with differential signaling may use varying naming schemes of signal pairs. For example differential signal X (which contains two electrical wires) may be denoted as: X+ and X-, or X and \X or X and X. In this Wiki we mark them X+ and X-. Some Fanuc encoders have quadrature signals named as PCA, /PCA, PCB, /PCB, PCZ and /PCZ which are equivalent to A, B and Z signal pairs.

Other signals

Signal name Function Used for Remarks
REGEN_OUT Regenerative resistor control output Use to control optional regenerative resistor to prevent excessive voltage generation in HV DC bus during motor deceleration. A buffer circuit is needed for resistor, such as a logic level MOSFET. See example schematic here.
MECH_BRAKE_OUT Mechanical holding brake control output Use to control optional holding brake of motor A buffer circuit is needed to drive a solenoid brake, such as a logic level MOSFET. See example schematic here.
ENABLE_IN Drive enable input signal (always required) Use to enable drive and allow motor to initialize and operate Accepts up to 24V voltage level, but works also with 3V level signal
STO2 Safe torque off input signal (always required) Use to allow motor to produce torque (activate power stage) Accepts up to 24V voltage level, but works also with 5V level signal. STO is inactive (allows torque) when logic high is supplied.

Electrical ratings

Signal names Allowed input voltages/output voltage Internal input/output impedance (Ω) Internal pull impedance (Ω)
5V_IN 5V +/-10% - -
HV+ 0 – 55 V - -
RS485_A/B RS485 serial bus, 2.7-5.5V signal level >10k -
ADDRSEL1, ADDRSEL2 External address setting pull-down resistors to ground (minimum 2.2 kΩ). See article Setting IONI bus address. - 2.2k pull-up
HSIN1, HSIN2 Logic low -0.3-1.0V, logic high 2.7-5.5V - 2.2k pull-up
ANAIN-, ANAIN+ +/- 11V 8k -
GPI1...GPI4 Logic low -0.3-1.0V, logic high 2.7-5.5V - 2.2k pull-up
GPI5 Logic low -0.3-1.0V, logic high 2.7-5.5V - ~20-50k pull-up
GPO1...GPO5 Logic low 0V, logic high 3.3V 220 -
MECH_BRAKE_OUT Logic low 0V, logic high 3.3V 220 -
REGEN_OUT Logic low 0V, logic high 3.3V 220 -
ENABLE_IN Logic low -0.3-1.0V, logic high 2.7-26V 5k 10k pull-down
STO2 Logic low -0.3-2.0V, logic high 4.5-26V 8k 20k pull-down
HALL_U/V/W Logic low -0.3-1.0V, logic high 2.7-5.5V - 2.2k
A/B/C+ RS422 receiver, 2.7-5.5V signal level - 2.2k
A/B/C- RS422 receiver, 2.7-5.5V signal level - 1.1k pull to 2.5V
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