Difference between revisions of "ATOMI connectors and pinouts"

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|-
 
|-
 
!  Pin number !! Signal name !! Usage
 
!  Pin number !! Signal name !! Usage
 +
! 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
 
|-
 
|-
 
| 3 || class="inpin" | CHB || Encoder channel B
 
| 3 || class="inpin" | CHB || Encoder channel B
 +
| colspan="3" |Internal 2.2 kOhm pull-up resistor
 
|-
 
|-
 
| 4 || class="inpin" | CHA || Encoder channel A
 
| 4 || class="inpin" | CHA || Encoder channel A
 +
| colspan="3" |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
 +
| colspan="3" |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
 +
| colspan="3" |Also ground for cable shield
 +
|-
 +
|
 +
|
 +
|
 +
|'''AC/BLDC motor'''
 +
|'''Stepper motor'''
 +
|'''Brush DC motor'''
 
|-
 
|-
 
| 7|| class="outpin" |PH4 || Motor phase 4
 
| 7|| class="outpin" |PH4 || Motor phase 4
 +
| -
 +
|Coil B.2
 +
|Armature +
 
|-
 
|-
−
| 8|| class="outpin" |W / PH3 || Motor phase 3 / Servo W
+
| 8|| class="outpin" |PH3 || Motor phase 3
 +
|W (T)
 +
|Coil B.1
 +
|Armature -
 
|-
 
|-
−
| 9|| class="outpin" |V / PH2 || Motor phase 2 / Servo V
+
| 9|| class="outpin" |PH2 || Motor phase 2
 +
|V (S)
 +
|Coil A.2
 +
|Armature -
 
|-
 
|-
−
| 10|| class="outpin" |U / PH1 || Motor phase 1 / Servo U
+
| 10|| class="outpin" |PH1 || Motor phase 1
 +
|U (R)
 +
|Coil A.1
 +
|Armature +
 
|}
 
|}
  
 
===X1 - Granity and SimpleMotion V2 connector===
 
===X1 - Granity and SimpleMotion V2 connector===
  
 +
Standard mini-USB connector. Please refer to [[Granity]] pages for further instructions.
  
 
===X2 - Main setpoint connector===
 
===X2 - Main setpoint connector===
Line 47: Line 74:
 
{| 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
 +
|Open-drain buffer gate signal
 
|-
 
|-
−
| 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="9" |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|| 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||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||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||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|| class="powpin" |GND
 +
| -
 
|}
 
|}
 
Notes:
 
Notes:
−
* All I/O have a 180 Ohm series resistor.
+
* Digital inputs accept standard signal levels 2.7 - 5.5 VDC.
−
* All inputs are logic HIGH with input voltage from 2.7 V to 5 V.
+
* All outputs provide 3.3 V with maximum load of 8 mA.
−
* All outputs source 3.3 V with maximum of 8 mA load.
+
* 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.
 +
 
 +
<sup>P</sup>) Internal 10 kOhm pull-up resistor.
  
 
===X3 - Additional setpoint and IO connector===
 
===X3 - Additional setpoint and IO connector===
Line 87: Line 145:
 
{| 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="powpin" |GND |||GND / 0 V||2||14|| class="powpin" |+5V|| +5 V supply
+
| 1||1|| class="powpin" |GND |||GND / 0 V
 +
| -||2||14|| class="powpin" |+5V|| +5 V supply
 +
|Total 1.5 A current limit for +5 V bus
 
|-
 
|-
−
| 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
 +
| -||4||15|| class="outpin" |Global_IO4 <sup>P</sup>||Reserved for future use
 +
|Reserved for future use
 
|-
 
|-
−
| 5||3|| class="outpin" |AUX_OUT||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>||Inverter buffer for AUX_IN
 +
|24 V 500 mA open-drain buffer.
 +
Active when AUX_IN = HIGH.
 +
||6||16|| class="outpin" |ANA_OUT <sup>S</sup>||VFD speed control signal
 +
|PWM to analogue converter output.
 +
Output voltage range 0 - 5 V.
 
|-
 
|-
−
| 7||4|| class="inpin" |X_GPI2||Enable positive X travel||8||17|| class="inpin" |X_GPI3||Enable negative X travel
+
| 7||4|| class="inpin" |X_GPI2 <sup>P</sup>||Disable positive X travel <sup>L</sup>
 +
|Active low||8||17|| class="inpin" |X_GPI3 <sup>P</sup>||Disable negative X travel <sup>L</sup>
 +
|Active low
 
|-
 
|-
−
| 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
 +
|Active low||10||18|| class="outpin" | X_GPO2 || X tracking error
 +
|Active low
 
|-
 
|-
−
| 11||6|| class="inpin" |X_ANAIN|| X analogue setpoint input||12||19|| class="inpin" |Y_GPI2 || Enable positive Y travel
+
| 11||6|| class="inpin" |X_ANAIN|| X analogue setpoint input <sup>A</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
 
|-
 
|-
−
| 13||7|| class="inpin" |Y_GPI3||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>
 +
|Active low||14||20|| class="outpin" | Y_GPO4 ||Y position within limits
 +
|Active low
 
|-
 
|-
−
| 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
 +
|Active low||16||21|| class="inpin" |Y_ANAIN || Y analogue setpoint input
 +
|0 - 3.3 V <sup>A</sup>
 
|-
 
|-
−
| 17||9|| class="inpin" |Z_GPI2||Enable positive Z travel||18||22|| class="inpin" |Z_GPI3 || Enable positive Z travel
+
| 17||9|| class="inpin" |Z_GPI2 <sup>P</sup>||Disable positive Z travel <sup>L</sup>
 +
|Active low||18||22|| class="inpin" |Z_GPI3 <sup>P</sup> || Disable negative Z travel <sup>L</sup>
 +
|Active low
 
|-
 
|-
−
| 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  
 +
|Active low||20||23|| class="outpin" |Z_GPO2 || Z tracking error
 +
|Active low
 
|-
 
|-
−
| 21||11|| class="inpin" |Z_ANAIN||Z analogue setpoint input||22||24|| class="inpin" |A_GPI2 || Enable positive A travel
+
| 21||11|| class="inpin" |Z_ANAIN||Z analogue setpoint input <sup>A</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
 
|-
 
|-
−
| 23||12|| class="inpin" |A_GPI3||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>
 +
|Active low||24||25|| class="outpin" |A_GPO4 || A position within limits
 +
|Active low
 
|-
 
|-
−
| 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
 +
|Active low||26||N/A|| class="inpin" | A_ANAIN ||A analogue setpoint input
 +
|0 - 3.3 V <sup>A</sup>
 
|}
 
|}
 
Notes:
 
Notes:
−
* All I/O have a 180 Ohm series resistor.
+
* Digital inputs accept standard signal levels 2.7 - 5.5 VDC.
−
* All inputs are logic HIGH with input voltage from 2.7 V to 5 V.
+
* All GPO pins provide 3.3 V with maximum load of 8 mA.
−
* All outputs source 3.3 V with maximum of 8 mA load.
+
* 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 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.
 +
 
 +
<sup>S</sup>) Controllable through SimpleMotionV2 bus.
  
 
===X4 - Power input and STO connector===
 
===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"
 
{| 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 139: Line 235:
 
|-
 
|-
 
!  Pin number !! Signal name !! Usage
 
!  Pin number !! Signal name !! Usage
 +
!Notes / Specifications
 
|-
 
|-
 
| 1 || class="powpin" | +5V|| +5 V supply
 
| 1 || class="powpin" | +5V|| +5 V supply
 +
|Total 1.5 A current limit for +5 V bus
 
|-
 
|-
 
| 2 || class="outpin" |CHA || Encoder channel A
 
| 2 || class="outpin" |CHA || Encoder channel A
 +
|Direct connection to encoder output signal
 +
Internal 2.2 kOhm pull-up resistor
 
|-
 
|-
 
| 3 || class="powpin" |GND || GND / 0 V
 
| 3 || class="powpin" |GND || GND / 0 V
 +
| -
 
|-
 
|-
 
| 4 || class="outpin" |CHB || Encoder channel B
 
| 4 || class="outpin" |CHB || Encoder channel B
 +
|Direct connection to encoder output signal
 +
Internal 2.2 kOhm pull-up resistor
 
|-
 
|-
 
| 5 || class="powpin" |GND || GND / 0 V
 
| 5 || class="powpin" |GND || GND / 0 V
 +
| -
 
|-
 
|-
 
| 6 || class="outpin" |CHC || Encoder channel C
 
| 6 || class="outpin" |CHC || Encoder channel C
 +
|Direct connection to encoder output signal
 +
Internal 2.2 kOhm pull-up resistor
 
|}
 
|}

Latest revision as of 12:40, 3 July 2017

Legend[edit | edit source]

Color
Supply pin
Input pin
Output pin

MX, MY, MZ, MA - Motor and encoder connectors[edit | edit source]

Pin number Signal name Usage Notes / Specifications
1 Limit Limit switch, shared for both directions Internal 2.2 kOhm pull-up resistor
2 CHC / Home Encoder channel C (index) / home switch 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
AC/BLDC motor Stepper motor Brush DC motor
7 PH4 Motor phase 4 - Coil B.2 Armature +
8 PH3 Motor phase 3 W (T) Coil B.1 Armature -
9 PH2 Motor phase 2 V (S) Coil A.2 Armature -
10 PH1 Motor phase 1 U (R) Coil A.1 Armature +

X1 - Granity and SimpleMotion V2 connector[edit | edit source]

Standard mini-USB connector. Please refer to Granity pages for further instructions.

X2 - Main setpoint connector[edit | edit source]

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 Open-drain buffer gate signal
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 -

Notes:

  • Digital inputs accept standard signal levels 2.7 - 5.5 VDC.
  • All outputs provide 3.3 V with maximum load of 8 mA.
  • All GPO pins have a 180 Ohm series resistor.

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

P) Internal 10 kOhm pull-up resistor.

X3 - Additional setpoint and IO connector[edit | edit source]

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 Notes / Specifications Pin number in header Pin number in D25 cable Signal name Typical usage Notes / Specifications
1 1 GND GND / 0 V - 2 14 +5V +5 V supply Total 1.5 A current limit for +5 V bus
3 2 GND GND / 0 V - 4 15 Global_IO4 P Reserved for future use Reserved for future use
5 3 AUX_OUT S Inverter buffer for AUX_IN 24 V 500 mA open-drain buffer.

Active when AUX_IN = HIGH.

6 16 ANA_OUT S VFD speed control signal PWM to analogue converter output.

Output voltage range 0 - 5 V.

7 4 X_GPI2 P Disable positive X travel L Active low 8 17 X_GPI3 P Disable negative X travel L Active low
9 5 X_GPO4 X position within limits Active low 10 18 X_GPO2 X tracking error Active low
11 6 X_ANAIN X analogue setpoint input A 0 - 3.3 V A 12 19 Y_GPI2 P Disable positive Y travel L Active low
13 7 Y_GPI3 P Disable negative Y travel L Active low 14 20 Y_GPO4 Y position within limits Active low
15 8 Y_GPO2 Y tracking error Active low 16 21 Y_ANAIN Y analogue setpoint input 0 - 3.3 V A
17 9 Z_GPI2 P Disable positive Z travel L Active low 18 22 Z_GPI3 P Disable negative Z travel L Active low
19 10 Z_GPO4 Z position within limits Active low 20 23 Z_GPO2 Z tracking error Active low
21 11 Z_ANAIN Z analogue setpoint input A 0 - 3.3 V A 22 24 A_GPI2 P Disable positive A travel L Active low
23 12 A_GPI3 P Disable negative A travel L Active low 24 25 A_GPO4 A position within limits Active low
25 13 A_GPO2 A tracking error Active low 26 N/A A_ANAIN A analogue setpoint input 0 - 3.3 V A

Notes:

  • Digital inputs accept standard signal levels 2.7 - 5.5 VDC.
  • All GPO pins provide 3.3 V with maximum load of 8 mA.
  • All GPI/O pins have a 180 Ohm series resistor.

A) Setpoint = zero with 50 % input voltage if direction signal is not used.

L) 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.

P) Internal 10 kOhm pull-up resistor.

S) Controllable through SimpleMotionV2 bus.

X4 - Power input and STO connector[edit | edit source]

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

Pin number Signal name Usage Notes / Specifications
1 GND Ground -
2 STO Safe torque off 3.3 - 49 V input voltage
3 HV+ Motor power supply, HV DC bus 12 - 49 V, 18 A maximum current through connector

JP1 to JP4 - Encoder passthrough connector[edit | edit source]

JP1 to JP4 are pin headers for external encoder use.

Pin number Signal name Usage Notes / Specifications
1 +5V +5 V supply Total 1.5 A current limit for +5 V bus
2 CHA Encoder channel A Direct connection to encoder output signal

Internal 2.2 kOhm pull-up resistor

3 GND GND / 0 V -
4 CHB Encoder channel B Direct connection to encoder output signal

Internal 2.2 kOhm pull-up resistor

5 GND GND / 0 V -
6 CHC Encoder channel C Direct connection to encoder output signal

Internal 2.2 kOhm pull-up resistor

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