IONICUBE connectors and pinouts
Contents
Front connectors
Connector layout and naming
Power and feedback ports of X, Y, Z and A axis
Names of power and feedback ports. I.e. X9A means upper floor connector of X9 and X9B the lower floor of X9.
Legend
| Color |
|---|
| Supply pin |
| Input pin |
| Output pin |
X7 and X9
| Pin number | Signal name | Usage |
|---|---|---|
| 1 | GND | Ground for cable shield and an optional motor holding brake coil |
| 2 | PHASE1 | Motor phase 1 |
| 3 | PHASE2 | Motor phase 2 |
| 4 | PHASE3 | Motor phase 3 |
| 5 | PHASE4 | Motor phase 4 |
| 6 | BRAKE | 24V motor holding brake coil drive |
Motor & brake wiring schematics
Wiring of three phase AC servo motor. Brake is optional.
Wiring of Brush-DC servo motor. Brake is optional.
Wiring of two phase stepping motor. Brake can be fitted like in the other examples. Also 6 and 8 wire motors can be wired (the two drive coils connect always to the same PHASE outputs).
X6 and X8
| Pin # | Pin name | Electrical type (in most feedback device modes) | Alternate electrical type (in some feedback device modes) | Connection with various feedback devices |
|---|---|---|---|---|
| Shell | GND | Earth/case | Feedback cable shield | |
| 1 | HALL_W | Digital input W | Hall sensor input, phase W | |
| 2 | HALL_V | Digital input V | Hall sensor input, phase V | |
| 3 | HALL_U | Digital input U | Hall sensor input, phase U | |
| 4 | GND | Encoder supply ground | ||
| 5 | B- | Differential input B- | Analog input B+ | Quadrature encoder (B channel)/SinCos/serial encoder/resolver input |
| 6 | B+ | Differential input B+ | Analog input B- | |
| 7 | A- | Differential input A- | Analog input A- | Quadrature encoder (A channel)/SinCos/serial encoder/resolver input |
| 8 | A+ | Differential input A+ | Analog input A+ | |
| 9 | 5V_OUT | Encoder supply 5V output | Encoder power supply | |
| 10 | GND | Encoder supply ground | ||
| 11 | GPI3 | Axis negative direction end limit switch (optional) | Connect normally closed (NC) limit switch between this pin and GND pin | |
| 12 | GPI2 | Axis positive direction end limit switch (optional) | Connect normally closed (NC) limit switch between this pin and GND pin | |
| 13 | GPI1 | Axis home switch switch (optional) | Connect normally closed (NC) limit switch between this pin and GND pin | |
| 14 | C- | Differential input C- | Quadrature encoder index channel (Z channel)/serial encoder input | |
| 15 | C+ | Differential input C+ | ||
Examples of feedback device and switch wiring
Fully wired port with differential incremental encoder, hall sensors and switches
Wiring of differential incremental encoder
Minimal wiring of incremental encoder (single ended, no index channel)
Wiring of Hall sensors only (only torque mode possible)
Illustration of wiring limit and home switches. In addition to this, encoder and/or halls are needed.
 | 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. |
Back connectors
A closeup of X2, X3, X4 and X5
X2
| Pin number | Signal name | Usage |
|---|---|---|
| 1 | GND | Ground |
| 2 | 24V | 24V logic supply |
| 3 | STO | Safe torque off input (this pin also available in X1, as defined in SimpleMotion V2 port |
| 4 | VFD | 0-12V analog output where voltage level is proportional to PWM duty cycle on pin PWM on X4. PWM frequency must be between 100 and 10000 Hz. |
| 5 | RL1 | Relay coil driver output 1. When RLIN1 on X4 is logic high, RL1 is pulled to GND by an open collector circuit. When RLIN1 is low, RL1 is floating (max 24V). |
| 6 | RL2 | Relay coil driver output 2. When RLIN2 on X4 is logic high, RL2 is pulled to GND by an open collector circuit. When RLIN1 is low, RL2 is floating (max 24V). |
X3
| Pin number | Signal name | Usage |
|---|---|---|
| 1 | GND | Ground |
| 2 | HV+ | Motor power supply, HV DC bus (see IONI drive voltage range spec) |
X4
| 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 | ENABLE | Enable all axis (with or without chargepump) | 2 | 14 | PWM | PWM input for VFD analog output | |
| 3 | 2 | HSIN1_X | Direction input X | 4 | 15 | GPO4_A | Limit switch output A | |
| 5 | 3 | HSIN2_X | Pulse/step input X | 6 | 16 | RLIN1 | Controls RL1 state | |
| 7 | 4 | HSIN1_Y | Direction input Y | 8 | 17 | RLIN2 | Controls RL2 state | |
| 9 | 5 | HSIN2_Y | Pulse/step input Y | 10 | 18 | GND | Ground | |
| 11 | 6 | HSIN1_Z | Direction input Z | 12 | 19 | GND | ||
| 13 | 7 | HSIN2_Z | Pulse/step input A | 14 | 20 | GND | ||
| 15 | 8 | HSIN1_A | Direction input A | 16 | 21 | GND | ||
| 17 | 9 | HSIN2_A | Pulse/step input A | 18 | 22 | GND | ||
| 19 | 10 | STOP_OUT | Fault on any axis or E-stop (active low) | 20 | 23 | GND | ||
| 21 | 11 | GPO4_X | Limit switch output X | 22 | 24 | GND | ||
| 23 | 12 | GPO4_Y | Limit switch output Y | 24 | 25 | GND | ||
| 25 | 13 | GPO4_Z | Limit switch output Z | 26 | N/A | Not connected |
X5
| 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 | 2 | 14 | +5V_OUT | 5V supply from IONICUBE ^2 | ||
| 3 | 2 | ANAIN-_X | +/-10V analog input X | 4 | 15 | ANAIN+_X | +/-10V analog input X | |
| 5 | 3 | ANAIN-_Y | +/-10V analog input Y | 6 | 16 | ANAIN+_Y | +/-10V analog input Y | |
| 7 | 4 | ANAIN-_Z | +/-10V analog input Z | 8 | 17 | ANAIN+_Z | +/-10V analog input Z | |
| 9 | 5 | ANAIN-_A | +/-10V analog input A | 10 | 18 | ANAIN+_A | +/-10V analog input A | |
| 11 | 6 | GPO1_X | For pin function, refer to IONI connector pinout | 12 | 19 | GPI4_X | For pin function, refer to IONI connector pinout | |
| 13 | 7 | GPO1_Y | 14 | 20 | GPI4_Y | |||
| 15 | 8 | GPO1_Z | 16 | 21 | GPI4_Z | |||
| 17 | 9 | GPO1_A | 18 | 22 | GPI4_A | |||
| 19 | 10 | GPO5_X | 20 | 23 | GPI5_X | |||
| 21 | 11 | GPO5_Y | 22 | 24 | GPI5_Y | |||
| 23 | 12 | GPO5_Z | 24 | 25 | GPI5_Z | |||
| 25 | 13 | GPO5_A | 26 | N/A | GPI5_A
|
In no event the Product Information or parts hereof shall be regarded as guarantee of conditions or characteristics. The Product Information or any part thereof may also not be regarded as a warranty of any kind. No liability of any kind shall be assumed by Author with respect to Product Information or any use made by you thereof, nor shall Author indemnify you against or be liable for any third party claims with respect to such information or any use thereof.
As content of this Wiki may be edited by user community, Granite Devices Oy or it's affiliates do not take any responsibility of the contents of this Wiki. Use information at your own risk. However, Granite Devices staff attempts to review all changes made to this Wiki and keep information trustworthy.
Without written consent, Granite Devices' Products or Intellectual Property shall not be used in situations or installations where living beings, material property, or immaterial property could be harmed by the operation, features or failures of Product. Products may only be used in a way where hazards like moving parts, electric shock, laser radiation, or fire can't be realized even if the content of this Wiki would suggest otherwise.
