Difference between revisions of "IONI connector pinout"

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IONI card edge connector fits into a standard PCI-Express 8X socket connector.  
+
[[IONI Servo & Stepper Drive|IONI]] card edge connector fits into a standard PCI-Express 8X socket connector. This page lists electrical and functional specifications of each pin.  
  
 
==Pinout==
 
==Pinout==
Line 8: Line 8:
 
! Color
 
! Color
 
|-
 
|-
−
| class="powpin"|Power pin
+
| class="powpin" |Power pin
 
|-
 
|-
−
| class="inpin"|Input pin
+
| class="inpin" |Input pin
 
|-
 
|-
−
| class="outpin"|Output pin
+
| class="outpin" |Output pin
 
|-
 
|-
−
| class="mixedpin"|Mixed or other purpose
+
| class="mixedpin" |Mixed or other purpose
 
|}
 
|}
  
Line 21: Line 21:
 
{| class="wikitable"
 
{| class="wikitable"
 
! Pin!!Signal name
 
! Pin!!Signal name
−
|rowspan=18 class="tableseparator"|
+
| rowspan="18" class="tableseparator" |
 
!Pin!!Signal name
 
!Pin!!Signal name
 
|-
 
|-
−
| A1||class="powpin"|GND||B1||class="powpin"|5V_IN
+
| A1|| class="powpin" |GND||B1|| class="powpin" |5V_IN
 
|-
 
|-
 
| A2||RS485_A||B2||RS485_B
 
| A2||RS485_A||B2||RS485_B
Line 30: Line 30:
 
| A3||ADDRSEL1||B3||ADDRSEL2
 
| A3||ADDRSEL1||B3||ADDRSEL2
 
|-
 
|-
−
| A4||class="inpin"|HSIN1||B4||class="inpin"|HSIN2
+
| A4|| class="inpin" |HSIN1||B4|| class="inpin" |HSIN2
 
|-
 
|-
−
| A5||class="inpin"|ANAIN-||B5||class="inpin"|ANAIN+
+
| A5|| class="inpin" |ANAIN-||B5|| class="inpin" |ANAIN+
 
|-
 
|-
−
| A6||class="inpin"|GPI1||B6||class="inpin"|GPI2
+
| A6|| class="inpin" |GPI1||B6|| class="inpin" |GPI2
 
|-
 
|-
−
| A7||class="inpin"|GPI3||B7||class="inpin"|GPI4
+
| A7|| class="inpin" |GPI3||B7|| class="inpin" |GPI4
 
|-
 
|-
−
| A8||class="outpin"|GPO1||B8||class="outpin"|GPO2
+
| A8|| class="outpin" |GPO1||B8|| class="outpin" |GPO2
 
|-
 
|-
−
| A9||class="outpin"|GPO3||B9||class="outpin"|GPO4
+
| A9|| class="outpin" |GPO3||B9|| class="outpin" |GPO4
 
|-
 
|-
−
| A10||class="outpin"|GPO5||B10||class="inpin"|GPI5
+
| A10|| class="outpin" |GPO5||B10|| class="inpin" |GPI5
 
|-
 
|-
−
| A11||class="outpin"|REGEN_OUT||B11||class="outpin"|MECH_BRAKE_OUT
+
| A11|| class="outpin" |REGEN_OUT||B11|| class="outpin" |MECH_BRAKE_OUT
 
|-
 
|-
−
| A12||class="inpin"|ENABLE_IN||B12||Reserved/NC
+
| A12|| class="inpin" |ENABLE_IN||B12||Reserved/NC
 
|-
 
|-
−
| A13||class="inpin"|STO2||B13||class="inpin"|HALL_W
+
| A13|| class="inpin" |STO2||B13|| class="inpin" |HALL_W
 
|-
 
|-
−
| A14||class="inpin"|HALL_V||B14||class="inpin"|HALL_U
+
| A14|| class="inpin" |HALL_V||B14|| class="inpin" |HALL_U
 
|-
 
|-
−
| A15||class="inpin"|A-||B15||class="inpin"|A+
+
| A15|| class="inpin" |A-||B15|| class="inpin" |A+
 
|-
 
|-
−
| A16||class="inpin"|B-||B16||class="inpin"|B+
+
| A16|| class="inpin" |B-||B16|| class="inpin" |B+
 
|-
 
|-
−
| A17||class="inpin"|C-||B17||class="inpin"|C+
+
| A17|| class="inpin" |C-||B17|| class="inpin" |C+
 
|}
 
|}
  
Line 62: Line 62:
 
{| class="wikitable"
 
{| class="wikitable"
 
! Pin!!Signal name
 
! Pin!!Signal name
−
|rowspan=11 class="tableseparator"|
+
| rowspan="11" class="tableseparator" |
 
!Pin!!Signal name
 
!Pin!!Signal name
 
|-
 
|-
−
| A18-A22||class="powpin"|GND||B18||Not connected
+
| A18-A22|| class="powpin" |GND||B18||Not connected
 
|-
 
|-
−
| A23||Not connected||B19-B22||class="powpin"|HV+
+
| A23||Not connected||B19-B22|| class="powpin" |HV+
 
|-
 
|-
−
| A24-A27||class="outpin"|PHASE1||B23||Not connected
+
| A24-A27|| class="outpin" |PHASE1||B23||Not connected
 
|-
 
|-
−
| A28||Not connected||B24-B27||class="outpin"|PHASE2
+
| A28||Not connected||B24-B27|| class="outpin" |PHASE2
 
|-
 
|-
−
| A29-A37||class="outpin"|PHASE3||B28||Not connected
+
| A29-A37|| class="outpin" |PHASE3||B28||Not connected
 
|-
 
|-
−
| A38||Not connected||B29-B37||class="outpin"|PHASE4
+
| A38||Not connected||B29-B37|| class="outpin" |PHASE4
 
|-
 
|-
−
| A39-A43||class="outpin"|PHASE1||B38||Not connected
+
| A39-A43|| class="outpin" |PHASE1||B38||Not connected
 
|-
 
|-
−
| A44||Not connected||B39-B43||class="outpin"|PHASE2
+
| A44||Not connected||B39-B43|| class="outpin" |PHASE2
 
|-
 
|-
−
| A45-A49||class="powpin"|GND||B44||Not connected
+
| A45-A49|| class="powpin" |GND||B44||Not connected
 
|-
 
|-
−
| ||||B45-B49||class="powpin"|HV+
+
| ||||B45-B49|| class="powpin" |HV+
 
|}
 
|}
 +
 +
;Connection to motor
 +
{| class="wikitable"
 +
|-
 +
! Signal name !! AC/BLDC motor  !! Brush DC motor !! Stepping motor
 +
|-
 +
| class="powpin" |GND|| colspan="3" | Connect motor cable shield and motor frame to power GND
 +
|-
 +
| class="outpin" |PHASE1 ||U (some motors R)||Armature +||Coil A.1
 +
|-
 +
| class="outpin" |PHASE2 ||V (some motors S)||Armature -||Coil A.2
 +
|-
 +
| class="outpin" |PHASE3 ||W (some motors T)||Connect to PHASE2||Coil B.1
 +
|-
 +
| class="outpin" |PHASE4 || Not connected||Connect to PHASE1||Coil B.2
 +
|}
 +
 
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 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.
  
Line 93: Line 110:
 
The table below summarizes the default functions for GPIO pins.  
 
The table below summarizes the default functions for GPIO pins.  
 
{{tip|Connecting GPI/GPO's are not mandatory. All of the same functions may be also accessed via [[SimpleMotion V2]] interface.}}
 
{{tip|Connecting GPI/GPO's are not mandatory. All of the same functions may be also accessed via [[SimpleMotion V2]] interface.}}
−
{| class="wikitable"
+
{| class="wikitable"
 
! Signal name!!Function!!Used for!!Remarks
 
! Signal name!!Function!!Used for!!Remarks
 
|-
 
|-
Line 113: Line 130:
 
|-
 
|-
 
| 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) ||  
 
| 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) ||  
 +
* GPO4 will be logic high if both of "Pos feed enable" and "Neg feed enable" as seen in Granity status are true. These Pos/Neg feed enable states are affected by {{param|LSP}}.
 +
* If you see both Pos & Neg feed enables being false, then you probably need to invert the switches with LSP parameter.
 +
* GPO4 will be also false if limit switch has been configured as home switch and homing is being performed.
 +
* GPO4 will work also sensorless manner after performing [[hard-stop homing]] with active "soft travel limits", in such case GPO4 will indicate whether axis is within the allowed software configured motion range.
 
|-
 
|-
−
| GPO5|| Reserved ||
+
| GPO5|| Reserved || || Feel free to request custom signal from [[Granite Devices support]] to be added in this output. For example fan control or custom status output. Changes can be made in customer specific firmware.
 
|}
 
|}
 
<sup>1</sup>) Connect switch between GND and GPIn pin
 
<sup>1</sup>) Connect switch between GND and GPIn pin
 +
 +
See also [[Drive status & fault bits explained]].
  
 
===Setpoint signals===
 
===Setpoint signals===
Line 126: Line 149:
 
! Signal name # !!  Electrical type (in most feedback device modes) || Alternate electrical type (in some feedback device modes) || Connection with various feedback devices
 
! Signal name # !!  Electrical type (in most feedback device modes) || Alternate electrical type (in some feedback device modes) || Connection with various feedback devices
 
|-
 
|-
−
| HALL_W|| colspan=2 |Digital input W ||  Hall sensor input, phase W  
+
| HALL_W|| colspan="2" |Digital input W ||  Hall sensor input, phase W  
 
|-
 
|-
−
| HALL_V|| colspan=2 |Digital input V  ||Hall sensor input, phase V
+
| HALL_V|| colspan="2" |Digital input V  ||Hall sensor input, phase V
 
|-
 
|-
−
| HALL_U|| colspan=2 |Digital input U || Hall sensor input, phase U  
+
| HALL_U|| colspan="2" |Digital input U || Hall sensor input, phase U  
 
|-
 
|-
−
| A-||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
 
|-
 
|-
 
| A+||Differential input A+|| Analog input A+
 
| A+||Differential input A+|| Analog input A+
 
|-
 
|-
−
| B-||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
 
|-
 
|-
 
| B+||Differential input B+|| Analog input B-
 
| B+||Differential input B+|| Analog input B-
 
|-
 
|-
−
|  C-||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)
 
|-
 
|-
−
|  C+||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 A+, B+ and C+ and leave drive's A-, B- and C- unconnected.}}
 
{{info|In case of single-ended encoder, connect encoder's A, B, Z only to drive's A+, B+ and C+ and leave drive's A-, B- and C- unconnected.}}
Line 150: Line 173:
  
 
===Other signals===
 
===Other signals===
−
{| class="wikitable"
+
{| class="wikitable"
 
! Signal name!!Function!!Used for!!Remarks
 
! Signal name!!Function!!Used for!!Remarks
 
|-
 
|-
Line 157: Line 180:
 
| 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 [[Media:Regen drive.png|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 [[Media:Regen drive.png|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
+
|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 5V level signal. (1)
 
|-
 
|-
−
|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.
+
|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. (1)
 
|}
 
|}
 +
(1) ENABLE_IN and STO2 are not 3.3V compatible, 4.5-26V signal is required to drive ''logic true'' state into them.
 +
 
==Electrical ratings==
 
==Electrical ratings==
−
{| class="wikitable"
+
[[File:Ioni io interlal circuits doc.png|thumbnail|right|IONI's internal circuity (equivalent schematics, not actual wiring) in feedback device port pins (the pins on D-15 connector on [[IONICUBE]]s)]]
 +
{| class="wikitable"
 
! Signal names!!Allowed input voltages/output voltage!!Internal input/output impedance (Ω)!!Internal pull impedance (Ω)
 
! Signal names!!Allowed input voltages/output voltage!!Internal input/output impedance (Ω)!!Internal pull impedance (Ω)
 
|-
 
|-
Line 171: Line 197:
 
| RS485_A/B||RS485 serial bus, 2.7-5.5V signal level||>10k||-
 
| RS485_A/B||RS485 serial bus, 2.7-5.5V signal level||>10k||-
 
|-
 
|-
−
| ADDRSEL1, ADDRSEL2||External address setting pull-down resistors to ground (minimum 1 kΩ). See chapter ''Selecting device address'' below.||-||2.2k pull-up
+
| ADDRSEL1, ADDRSEL2||External address setting pull-down resistors to ground (minimum 1 kΩ). See chapter ''Selecting device address'' below.||-||2.2k pull-up to 3.3V
 
|-
 
|-
−
| HSIN1, HSIN2||Logic low -0.3-1.0V, logic high 2.7-5.5V||-||2.2k pull-up
+
| HSIN1, HSIN2||Logic low -0.3-1.0V, logic high 2.7-5.5V||-||2.2k pull-up to 3.3V
 
|-
 
|-
 
| ANAIN-, ANAIN+||+/- 11V||8k||-
 
| ANAIN-, ANAIN+||+/- 11V||8k||-
 
|-
 
|-
−
| GPI1...GPI4||Logic low -0.3-1.0V, logic high 2.7-5.5V||- ||2.2k pull-up
+
| GPI1...GPI4||Logic low -0.3-1.0V, logic high 2.7-5.5V||- ||2.2k pull-up to 3.3V
 
|-
 
|-
−
| GPI5||Logic low -0.3-1.0V, logic high 2.7-5.5V||- ||~20-50k pull-up
+
| GPI5||Logic low -0.3-1.0V, logic high 2.7-5.5V||- ||
 +
* Rev 1 drives: ~20-50k pull-up to 3.3V
 +
* Rev 2 and later: 3.3k pull-up to 5V
 
|-
 
|-
 
| GPO1,2,4,5||Logic low 0V, logic high 3.3V||220||-
 
| GPO1,2,4,5||Logic low 0V, logic high 3.3V||220||-
 
|-
 
|-
−
| GPO3||Depends on Electrical interface [[CEI]] parameter: In IONICUBE mode it is an open drain output, pulled to 0V with 220 ohm impedance or pulled to 3.3V with pull-up (allow [[wired and connection]] of multiple drives). In other modes it is push-pull output (like GPO1,2,4,5) ||220||~20-50k pull-up
+
| GPO3||Depends on Electrical interface {{param|CEI}} parameter: In IONICUBE mode it is an open drain output, pulled to 0V with 220 ohm impedance or pulled to 3.3V with pull-up (allow [[wired and connection]] of multiple drives). In other modes it is push-pull output (like GPO1,2,4,5) ||220||~20-50k pull-up to 3.3V
 
|-
 
|-
 
| MECH_BRAKE_OUT||Logic low 0V, logic high 3.3V||220||-
 
| MECH_BRAKE_OUT||Logic low 0V, logic high 3.3V||220||-
Line 189: Line 217:
 
| REGEN_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
+
| ENABLE_IN||Logic low -0.3-2.0V, logic high 4.5-26V||5k||10k pull-down to GND
 
|-
 
|-
−
| STO2||Logic low -0.3-2.0V, logic high 4.5-26V||8k||20k pull-down
+
| STO2||Logic low -0.3-2.0V, logic high 4.5-26V||8k||20k pull-down to GND
 
|-
 
|-
−
| 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 pull-up to 5V
 
|-
 
|-
−
| A/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 pull-up to 5V
 
|-
 
|-
−
| A/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|| - ||1.9k pull to 1.9V
 
|}
 
|}
  
Line 205: Line 233:
 
{| class="wikitable"
 
{| class="wikitable"
 
|-
 
|-
−
! Mode !! Description !! Effects  
+
! Mode !! Description !! Effects (change of operation compared to Standard in this mode)
 
|-
 
|-
 
| Standard || The default mode || I/O assignments as described in pinout
 
| Standard || The default mode || I/O assignments as described in pinout
 
|-
 
|-
−
| IONICUBE || Mode for [[IONICUBE]] that is compatible with parallel port CNC [[controller]]s such as  [[Mach3]] and [[LinuxCNC]] software.  
+
| IONICUBE (CNC applications) || Mode for [[IONICUBE]] that is compatible with parallel port CNC [[controller]]s such as  [[Mach3]] and [[LinuxCNC]] software.  
  
 
Not recommended with [[IONICUBE 1X]] as GPO3/fault output will not work then.  
 
Not recommended with [[IONICUBE 1X]] as GPO3/fault output will not work then.  
Line 216: Line 244:
 
* GPO3 (fault state) output will go logic low after Enable signal goes low. In standard mode GPO3 stays high until faults are cleared.
 
* GPO3 (fault state) output will go logic low after Enable signal goes low. In standard mode GPO3 stays high until faults are cleared.
 
* GPO3 is open drain output to allow [[Wired and connection]] of multiple fault outputs of multiple drives
 
* GPO3 is open drain output to allow [[Wired and connection]] of multiple fault outputs of multiple drives
 +
 
|-
 
|-
−
| IONIZER || Not yet implemented, do not use || -
+
| SimuCUBE || Mode for [[SimuCUBE]] motherboard for force feedback simulator systems.
 +
||  
 +
* STO2 input acts as Enable and Clear faults input. In other words STO2 is the only one needed for all three functions, and Enable and Clear faults can be left unconnected.
 +
* [[Regenerative resistor]] drive has been tuned for SimuCUBE regenerative resistor
 +
* Power consumption limit has been tuned for simulator use (smoother operation than in other modes)
 +
* GPO5 is used as temperature controlled fan PWM output
 
|}
 
|}
 +
 
==Selecting device address==
 
==Selecting device address==
−
When accessing drive through [[SimpleMotion V2]] bus, each device in the bus should be assigned to different address between 1 to 32. Device address is a sum of hardware setting and software parameter {{param|SMO}}. The address of device is determined at the moment of logic voltage power on and will become by sum of hardware setting and SMO.
+
When accessing drive through [[SimpleMotion V2]] bus, each device in the bus should be assigned to different address between 1 to N. Device address is a sum of hardware setting and software parameter {{param|SMO}}. The address of device is determined at the moment of logic voltage power on and will become by sum of hardware setting and SMO.
  
−
Hardware setting is set by connecting a resistor between ADDRSEL1 and GND by following table:
+
Hardware setting is set by connecting a resistor between ADDRSELx and GND by method defined in article [[IONI SimpleMotion address selection (ADDRSEL)]].
−
{| class="wikitable"
+
 
−
|-
+
===Software selecting address===
−
! Hardware address setting !! Resistance !! Tolerance +/-
+
−
|-
+
−
| 1 || open circuit ||
+
−
|-
+
−
| 2 || 5.6 kOhm (or two 2.7 kOhm in series) || 5%
+
−
|-
+
−
| 3 || 2.7 kOhm (or two 5.6 kOhm wired in parallel) || 5%
+
−
|-
+
−
| 4 || 1.8 kOhm (or 5.6 kOhm and 2.7 kOhm wired in parallel) || 5%
+
−
|}
+
−
{{damage|Never connect ADDRSELn inputs directly to GND with lower than 1 kOhm impedance}}
+
−
Hardware address allows designing a motherboard like [[IONICUBE]] where each device has different address when SMO parameter is at it's default value (0).
+
−
===Configuring address when ADDRSEL addresses run out or are not used===
+
 
When having more than four devices in the same bus, or for example chaining multiple [[IONICUBE 1X]] motherboards (where all of them have address 1), it is necessary to utilize software parameter {{param|SMO}}. Procedure for setting unique address for each device with SMO:
 
When having more than four devices in the same bus, or for example chaining multiple [[IONICUBE 1X]] motherboards (where all of them have address 1), it is necessary to utilize software parameter {{param|SMO}}. Procedure for setting unique address for each device with SMO:
  
−
#Disconnect or unpower all other devices that the ones with already unique address (i.e. only one IOCIBUCE connected to SM bus, or powered on)
+
#Disconnect or unpower all other devices that the ones with already unique address (i.e. have only one IONICUBE connected to SM bus, or powered on)
 
#Connect to drive with Granity
 
#Connect to drive with Granity
−
#Adjust SMO parameter value so that device will receive a desired bus address. I.e. if using IONICUBE 1X, set SMO values 0, 1, 2, 3 to the different drives. Or when IONICUBE (4X) is being used, set SMO values of drives on the first board 0, second board 4, third 8 etc.
+
#Adjust SMO parameter value so that device will receive a desired bus address. I.e. if using IONICUBE 1X, set SMO values 0, 1, 2, 3 to the different drives (drive addresses will become 1, 2, 3, 4). Or when IONICUBE (4 axis) is being used, set SMO values of drives on the first board 0, second board 4, third 8 etc (drive addresses will become 1 - 12).
 
#Save settings, disconnect and repeat the procedure for all drives.
 
#Save settings, disconnect and repeat the procedure for all drives.
  
 
[[Category:IONI]]
 
[[Category:IONI]]
 
[[Category:IONI_user_guide]]
 
[[Category:IONI_user_guide]]

Latest revision as of 20:00, 30 August 2019

IONI card edge connector fits into a standard PCI-Express 8X socket connector. This page lists electrical and functional specifications of each pin.

Pinout[edit | edit source]

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+
Connection to motor
Signal name AC/BLDC motor Brush DC motor Stepping motor
GND Connect motor cable shield and motor frame to power GND
PHASE1 U (some motors R) Armature + Coil A.1
PHASE2 V (some motors S) Armature - Coil A.2
PHASE3 W (some motors T) Connect to PHASE2 Coil B.1
PHASE4 Not connected Connect to PHASE1 Coil B.2

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[edit | edit source]

General purpose I/O (GPI/GPO)[edit | edit source]

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 (active low) 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). GPO3 is open drain type to allow wired and connection.
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)
  • GPO4 will be logic high if both of "Pos feed enable" and "Neg feed enable" as seen in Granity status are true. These Pos/Neg feed enable states are affected by Limit switch polarityLSP.
  • If you see both Pos & Neg feed enables being false, then you probably need to invert the switches with LSP parameter.
  • GPO4 will be also false if limit switch has been configured as home switch and homing is being performed.
  • GPO4 will work also sensorless manner after performing hard-stop homing with active "soft travel limits", in such case GPO4 will indicate whether axis is within the allowed software configured motion range.
GPO5 Reserved Feel free to request custom signal from Granite Devices support to be added in this output. For example fan control or custom status output. Changes can be made in customer specific firmware.

1) Connect switch between GND and GPIn pin

See also Drive status & fault bits explained.

Setpoint signals[edit | edit source]

Setpoint mode is selected by software with parameter Setpoint inputCRI and behavior is affected by parameters Setpoint smoothingCIS, Setpoint multiplierMUL, Setpoint dividerDIV, Setpoint offset nullingCAO and Enable direction inputCED.

Drive listens setpoint commands also always through SimpleMotion V2 interface regardess of Setpoint inputCRI paramter setting.
Signal name Function Used for Remarks
HSIN1 High speed digital input 1 Depending on setpoint mode, can be either:
HSIN2 High speed digital input 2 Depending on setpoint mode, can be either:
  • Direction signal of pulse train (in Pulse and direction setpoint mode)
  • Quadrature B channel (in quadrature setpoint mode)
  • PWM (in PWM and PWM+Dir setpoint modes)
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[edit | edit source]

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 A+, B+ and C+ and leave drive's A-, B- and C- 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[edit | edit source]

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 5V level signal. (1)
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. (1)

(1) ENABLE_IN and STO2 are not 3.3V compatible, 4.5-26V signal is required to drive logic true state into them.

Electrical ratings[edit | edit source]

IONI's internal circuity (equivalent schematics, not actual wiring) in feedback device port pins (the pins on D-15 connector on IONICUBEs)
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 1 kΩ). See chapter Selecting device address below. - 2.2k pull-up to 3.3V
HSIN1, HSIN2 Logic low -0.3-1.0V, logic high 2.7-5.5V - 2.2k pull-up to 3.3V
ANAIN-, ANAIN+ +/- 11V 8k -
GPI1...GPI4 Logic low -0.3-1.0V, logic high 2.7-5.5V - 2.2k pull-up to 3.3V
GPI5 Logic low -0.3-1.0V, logic high 2.7-5.5V -
  • Rev 1 drives: ~20-50k pull-up to 3.3V
  • Rev 2 and later: 3.3k pull-up to 5V
GPO1,2,4,5 Logic low 0V, logic high 3.3V 220 -
GPO3 Depends on Electrical interface Electrical interfaceCEI parameter: In IONICUBE mode it is an open drain output, pulled to 0V with 220 ohm impedance or pulled to 3.3V with pull-up (allow wired and connection of multiple drives). In other modes it is push-pull output (like GPO1,2,4,5) 220 ~20-50k pull-up to 3.3V
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 -0.3-2.0V, logic high 4.5-26V 5k 10k pull-down to GND
STO2 Logic low -0.3-2.0V, logic high 4.5-26V 8k 20k pull-down to GND
HALL_U/V/W Logic low -0.3-1.0V, logic high 2.7-5.5V - 2.2k pull-up to 5V
A/B/C+ RS422 receiver, 2.7-5.5V signal level - 2.2k pull-up to 5V
A/B/C- RS422 receiver, 2.7-5.5V signal level - 1.9k pull to 1.9V

Electrical interface modes (software selectable)[edit | edit source]

IONI supports various function mappings to I/O signals and is selectable through Granity CEI Electrical interface parameter. The differences between modes are:

Mode Description Effects (change of operation compared to Standard in this mode)
Standard The default mode I/O assignments as described in pinout
IONICUBE (CNC applications) Mode for IONICUBE that is compatible with parallel port CNC controllers such as Mach3 and LinuxCNC software.

Not recommended with IONICUBE 1X as GPO3/fault output will not work then.

  • In addition to rising edge of GPI4, also rising edge on Enable will clear fault state. In standard mode Enable input will not clear faults.
  • GPO3 (fault state) output will go logic low after Enable signal goes low. In standard mode GPO3 stays high until faults are cleared.
  • GPO3 is open drain output to allow Wired and connection of multiple fault outputs of multiple drives
SimuCUBE Mode for SimuCUBE motherboard for force feedback simulator systems.
  • STO2 input acts as Enable and Clear faults input. In other words STO2 is the only one needed for all three functions, and Enable and Clear faults can be left unconnected.
  • Regenerative resistor drive has been tuned for SimuCUBE regenerative resistor
  • Power consumption limit has been tuned for simulator use (smoother operation than in other modes)
  • GPO5 is used as temperature controlled fan PWM output

Selecting device address[edit | edit source]

When accessing drive through SimpleMotion V2 bus, each device in the bus should be assigned to different address between 1 to N. Device address is a sum of hardware setting and software parameter SimpleMotion bus address offsetSMO. The address of device is determined at the moment of logic voltage power on and will become by sum of hardware setting and SMO.

Hardware setting is set by connecting a resistor between ADDRSELx and GND by method defined in article IONI SimpleMotion address selection (ADDRSEL).

Software selecting address[edit | edit source]

When having more than four devices in the same bus, or for example chaining multiple IONICUBE 1X motherboards (where all of them have address 1), it is necessary to utilize software parameter SimpleMotion bus address offsetSMO. Procedure for setting unique address for each device with SMO:

  1. Disconnect or unpower all other devices that the ones with already unique address (i.e. have only one IONICUBE connected to SM bus, or powered on)
  2. Connect to drive with Granity
  3. Adjust SMO parameter value so that device will receive a desired bus address. I.e. if using IONICUBE 1X, set SMO values 0, 1, 2, 3 to the different drives (drive addresses will become 1, 2, 3, 4). Or when IONICUBE (4 axis) is being used, set SMO values of drives on the first board 0, second board 4, third 8 etc (drive addresses will become 1 - 12).
  4. Save settings, disconnect and repeat the procedure for all drives.
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