Difference between revisions of "ATOMI connectors and pinouts"

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(→‎X3 - Additional setpoint and IO connector)
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|-
 
|-
 
!  Pin number !! Signal name !! Usage
 
!  Pin number !! Signal name !! Usage
 +
!Notes / Specifications
 
|-
 
|-
 
| 1 || class="inpin" | SW || Limit switch, shared for both directions
 
| 1 || class="inpin" | SW || Limit switch, shared for both directions
 +
|Internal 2.2 kOhm pull-up resistor
 
|-
 
|-
 
| 2 || class="inpin" | CHC / Homeswitch || Encoder channel C (index) / homeswitch
 
| 2 || class="inpin" | CHC / Homeswitch || Encoder channel C (index) / homeswitch
 +
|Internal 2.2 kOhm pull-up resistor
 
|-
 
|-
 
| 3 || class="inpin" | CHB || Encoder channel B
 
| 3 || class="inpin" | CHB || Encoder channel B
 +
|Internal 2.2 kOhm pull-up resistor
 
|-
 
|-
 
| 4 || class="inpin" | CHA || Encoder channel A
 
| 4 || class="inpin" | CHA || Encoder channel A
 +
|Internal 2.2 kOhm pull-up resistor
 
|-
 
|-
 
| 5|| class="powpin" |+5 V || 5 V supply voltage to encoder
 
| 5|| class="powpin" |+5 V || 5 V supply voltage to encoder
 +
|Total 1.5 A current limit for +5 V bus
 
|-
 
|-
 
| 6|| class="powpin" |GND || Encoder supply ground / 0 V
 
| 6|| class="powpin" |GND || Encoder supply ground / 0 V
 +
|Also ground for cable shield
 
|-
 
|-
 
| 7|| class="outpin" |PH4 || Motor phase 4
 
| 7|| class="outpin" |PH4 || Motor phase 4
 +
|'''Stepper motor:''' Coil B.2, '''Brush DC motor:''' Armature +
 
|-
 
|-
−
| 8|| class="outpin" |W / PH3 || Motor phase 3 / Servo W
+
| 8|| class="outpin" |W / PH3 || Motor phase 3 / '''AC/BLDC motor''' phase W (T)
 +
|'''Stepper motor:''' Coil B.1, '''Brush DC motor:''' Armature -
 
|-
 
|-
−
| 9|| class="outpin" |V / PH2 || Motor phase 2 / Servo V
+
| 9|| class="outpin" |V / PH2 || Motor phase 2 / '''AC/BLDC motor''' phase V (S)
 +
|'''Stepper motor:''' Coil A.2, '''Brush DC motor:''' Armature -
 
|-
 
|-
−
| 10|| class="outpin" |U / PH1 || Motor phase 1 / Servo U
+
| 10|| class="outpin" |U / PH1 || Motor phase 1 / '''AC/BLDC motor''' phase U (R)
 +
|'''Stepper motor:''' Coil A.1, '''Brush DC motor:''' Armature +
 
|}
 
|}
  
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{| class="wikitable"
 
{| class="wikitable"
 
! Pin number in header!!Pin number in D25 cable!!Signal name!!Typical usage
 
! Pin number in header!!Pin number in D25 cable!!Signal name!!Typical usage
 +
!Notes / Specifications
 
| rowspan="14" class="tableseparator" |
 
| rowspan="14" class="tableseparator" |
 
!Pin number in header!!Pin number in D25 cable!!Signal name!!Typical usage
 
!Pin number in header!!Pin number in D25 cable!!Signal name!!Typical usage
 +
!Notes / Specifications
 
|-
 
|-
−
| 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
 +
|Active low||2||14|| class="inpin" |Homing|| Start homing for all axis
 +
|Active low
 
|-
 
|-
−
| 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
 +
|Direction input for PWM <sup>D</sup>||4||15|| class="outpin" |Global_GPO3 <sup>P</sup>||Global fault output
 +
|Active low
 
|-
 
|-
−
| 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
 +
|PWM setpoint||6||16|| class="inpin" |PWM2ANA||PWM to analogue converter input
 +
|Frequency must be 100 - 10000 Hz
 
|-
 
|-
−
| 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
 +
|Direction input for PWM <sup>D</sup>||8||17|| class="inpin" |AUX_IN||Auxilary transistor input
 +
|Gate for open-drain buffer
 
|-
 
|-
−
| 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
 +
|PWM setpoint||10||18|| class="powpin" |GND|| rowspan="8" |Ground / 0 V
 +
| -
 
|-
 
|-
−
| 11||6|| class="inpin" |HSIN2_Z||Direction input Z||12||19|| class="powpin" |GND
+
| 11||6|| class="inpin" |HSIN2_Z||Direction input Z
 +
|Direction input for PWM <sup>D</sup>||12||19|| class="powpin" |GND
 +
| -
 
|-
 
|-
−
| 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
 +
|PWM setpoint||14||20|| class="powpin" |GND
 +
| -
 
|-
 
|-
−
| 15||8|| class="inpin" |HSIN2_A||Direction input A||16||21|| class="powpin" |GND
+
| 15||8|| class="inpin" |HSIN2_A||Direction input A
 +
|Direction input for PWM <sup>D</sup>||16||21|| class="powpin" |GND
 +
| -
 
|-
 
|-
−
| 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
 +
|PWM setpoint||18||22|| class="powpin" |GND
 +
| -
 
|-
 
|-
−
| 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  
 +
|Active low||20||23|| class="powpin" |GND
 +
| -
 
|-
 
|-
−
| 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
 +
|Active low||22||24|| class="powpin" |GND
 +
| -
 
|-
 
|-
−
| 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
 +
|Active low||24||25|| class="powpin" |GND
 +
| -
 
|-
 
|-
−
| 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
 +
|Active low||26||N/A||GND||
 +
|Internally connected to GND
 
|}
 
|}
 
Notes:
 
Notes:
 
* All inputs are logic HIGH with input voltage from 2.7 V to 5 V.
 
* 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.
 
* All outputs source 3.3 V with maximum of 8 mA load.
 +
<sup>D</sup>) PWM can be used with or without direction signal. Without direction signal 50 % PWM = zero setpoint.
 +
 
<sup>P</sup>) Internal 10 kOhm pull-up resistor.
 
<sup>P</sup>) Internal 10 kOhm pull-up resistor.
  

Revision as of 12:47, 5 June 2017

Legend

Color
Supply pin
Input pin
Output pin

MX, MY, MZ, MA - Motor and encoder connectors

Pin number Signal name Usage Notes / Specifications
1 SW Limit switch, shared for both directions Internal 2.2 kOhm pull-up resistor
2 CHC / Homeswitch Encoder channel C (index) / homeswitch Internal 2.2 kOhm pull-up resistor
3 CHB Encoder channel B Internal 2.2 kOhm pull-up resistor
4 CHA Encoder channel A Internal 2.2 kOhm pull-up resistor
5 +5 V 5 V supply voltage to encoder Total 1.5 A current limit for +5 V bus
6 GND Encoder supply ground / 0 V Also ground for cable shield
7 PH4 Motor phase 4 Stepper motor: Coil B.2, Brush DC motor: Armature +
8 W / PH3 Motor phase 3 / AC/BLDC motor phase W (T) Stepper motor: Coil B.1, Brush DC motor: Armature -
9 V / PH2 Motor phase 2 / AC/BLDC motor phase V (S) Stepper motor: Coil A.2, Brush DC motor: Armature -
10 U / PH1 Motor phase 1 / AC/BLDC motor phase U (R) Stepper motor: Coil A.1, Brush DC motor: Armature +

X1 - Granity and SimpleMotion V2 connector

X2 - Main setpoint connector

Connect X2 only to 3.3V or 5V logic systems.

X2 is main control and setpoint signal port consisting Global Enable input signal, Global Fault output signal, pulse and direction/PWM setpoint inputs, and digital outputs for servo ready signals. X2 is directly wired to conform most common parallel port style pulse & direction CNC controllers.

Pin number in header Pin number in D25 cable Signal name Typical usage Notes / Specifications Pin number in header Pin number in D25 cable Signal name Typical usage Notes / Specifications
1 1 ENABLE P Enable all axis Active low 2 14 Homing Start homing for all axis Active low
3 2 HSIN2_X Direction input X Direction input for PWM D 4 15 Global_GPO3 P Global fault output Active low
5 3 HSIN1_X Pulse/step input X PWM setpoint 6 16 PWM2ANA PWM to analogue converter input Frequency must be 100 - 10000 Hz
7 4 HSIN2_Y Direction input Y Direction input for PWM D 8 17 AUX_IN Auxilary transistor input Gate for open-drain buffer
9 5 HSIN1_Y Pulse/step input Y PWM setpoint 10 18 GND Ground / 0 V -
11 6 HSIN2_Z Direction input Z Direction input for PWM D 12 19 GND -
13 7 HSIN1_Z Pulse/step input Z PWM setpoint 14 20 GND -
15 8 HSIN2_A Direction input A Direction input for PWM D 16 21 GND -
17 9 HSIN1_A Pulse/step input A PWM setpoint 18 22 GND -
19 10 GPO1_X P X axis servo ready signal Active low 20 23 GND -
21 11 GPO1_Y P Y axis servo ready signal Active low 22 24 GND -
23 12 GPO1_Z P Z axis servo ready signal Active low 24 25 GND -
25 13 GPO1_A P A axis servo ready signal Active low 26 N/A GND Internally connected to GND

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.

D) PWM can be used with or without direction signal. Without direction signal 50 % PWM = zero setpoint.

P) Internal 10 kOhm pull-up resistor.

X3 - Additional setpoint and IO connector

Connect X3 only to 3.3V or 5V logic systems.

X3 is a second control and setpoint signal port addition to X2. X3 consists of analog setpoint signal inputs and additional digital I/O.

Pin number in header Pin number in D25 cable Signal name Typical usage Pin number in header Pin number in D25 cable Signal name Typical usage
1 1 GND GND / 0 V 2 14 +5V +5 V supply
3 2 GND GND / 0 V 4 15 Global_IO4 Global IO 4
5 3 AUX_OUT 1 Buffered output for AUX_IN 6 16 ANA_OUT PWM to analogue converter output, 0 to 5 V
7 4 X_GPI2 P Enable positive X travel 8 17 X_GPI3 P Enable negative X travel
9 5 X_GPO4 X position within limits 10 18 X_GPO2 X tracking error
11 6 X_ANAIN X analogue setpoint input 12 19 Y_GPI2 P Enable positive Y travel
13 7 Y_GPI3 P Enable negative Y travel 14 20 Y_GPO4 Y position within limits
15 8 Y_GPO2 Y tracking error 16 21 Y_ANAIN Y analogue setpoint input
17 9 Z_GPI2 P Enable positive Z travel 18 22 Z_GPI3 P Enable positive Z travel
19 10 Z_GPO4 Z position within limits 20 23 Z_GPO2 Z tracking error
21 11 Z_ANAIN Z analogue setpoint input 22 24 A_GPI2 P Enable positive A travel
23 12 A_GPI3 P Enable negative A travel 24 25 A_GPO4 A position within limits
25 13 A_GPO2 A tracking error 26 N/A A_ANAIN A analogue setpoint input

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.

1) Open-drain buffer with 24 V 500 mA maximum rating. Active when AUX_IN = HIGH.

P) Internal 10 kOhm pull-up resistor.

X4 - Power input and STO connector

X4 is three pin wire terminal for HV DC bus supply and Safe torque off.

Pin number Signal name Usage Electrical
1 GND Ground
2 STO Safe torque off 3.3 - 49 V
3 HV+ Motor power supply, HV DC bus 12 - 49 V

JP1 to JP4 - Encoder passthrough connector

JP1 to JP4 are pin headers for external encoder use.

Pin number Signal name Usage
1 +5V +5 V supply
2 CHA Encoder channel A
3 GND GND / 0 V
4 CHB Encoder channel B
5 GND GND / 0 V
6 CHC Encoder channel C
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