IONI connector pinout

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+

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

General purpose I/O (GPI/GPO)

The table below summarizes the default functions for GPIO pins.

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)
GPO5	Reserved

¹) Connect switch between GND and GPIn pin

Setpoint signals

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.

Signal name	Function	Used for	Remarks
HSIN1	High speed digital input 1	Depending on setpoint mode, can be either: Step pulse train (in Pulse and direction setpoint mode) Quadrature A channel (in quadrature setpoint mode) PWM input direction (in PWM+Dir setpoint mode)
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

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+

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 1 kΩ). See chapter Selecting device address below.	-	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
GPO1,2,4,5	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
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

Electrical interface modes (software selectable)

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
Standard	The default mode	I/O assignments as described in pinout
IONICUBE	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
IONIZER	Not yet implemented, do not use	-

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 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 ADDRSEL1 and GND by following table:

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%

Hardware address allows designing a motherboard like IONICUBE where each device has different address when SMO parameter is at it's default value (0).

Software selecting address

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 IONIBUCE 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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