Legend
| Color
|
| Supply pin
|
| Input pin
|
| Output pin
|
MX, MY, MZ, MA - Motor and encoder connectors
| Pin number |
Signal name |
Usage
|
| 1 |
SW |
Limit switch, shared for both directions
|
| 2 |
CHC / Homeswitch |
Encoder channel C (index) / homeswitch
|
| 3 |
CHB |
Encoder channel B
|
| 4 |
CHA |
Encoder channel A
|
| 5 |
+5 V |
5 V supply voltage to encoder
|
| 6 |
GND |
Encoder supply ground / 0 V
|
| 7 |
PH4 |
Motor phase 4
|
| 8 |
w / PH3 |
Motor phase 3 / Servo W
|
| 9 |
V / PH2 |
Motor phase 2 / Servo V
|
| 10 |
U / PH1 |
Motor phase 1 / Servo U
|
X2 pinout
| 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
|
|
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 |
Homing |
Start homing for all axis
|
| 3 |
2 |
HSIN2_X |
Direction input X |
4 |
15 |
Global_GPO3 |
Global fault output
|
| 5 |
3 |
HSIN1_X |
Pulse/step input X |
6 |
16 |
PWM2ANA |
PWM to analogue converter input
|
| 7 |
4 |
HSIN2_Y |
Direction input Y |
8 |
17 |
AUX_IN |
Auxilary transistor input
|
| 9 |
5 |
HSIN1_Y |
Pulse/step input Y |
10 |
18 |
GND |
Ground
|
| 11 |
6 |
HSIN2_Z |
Direction input Z |
12 |
19 |
GND
|
| 13 |
7 |
HSIN1_Z |
Pulse/step input Z |
14 |
20 |
GND
|
| 15 |
8 |
HSIN2_A |
Direction input A |
16 |
21 |
GND
|
| 17 |
9 |
HSIN1_A |
Pulse/step input A |
18 |
22 |
GND
|
| 19 |
10 |
GPO1_X |
X axis servo ready signal |
20 |
23 |
GND
|
| 21 |
11 |
GPO1_Y |
Y axis servo ready signal |
22 |
24 |
GND
|
| 23 |
12 |
GPO1_Z |
Z axis servo ready signal |
24 |
25 |
GND
|
| 25 |
13 |
GPO1_A |
A axis servo ready signal |
26 |
N/A |
Not connected |
|
X3 pinout
| 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 |
Buffered output for AUX_IN |
6 |
16 |
ANA_OUT |
PWM to analogue converter output, 0..5 V
|
| 7 |
4 |
X_GPI2 |
Enable positive X travel |
8 |
17 |
X_GPI3 |
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 |
Enable positive Y travel
|
| 13 |
7 |
Y_GPI3 |
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 |
Enable positive Z travel |
18 |
22 |
Z_GPI3 |
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 |
Enable positive A travel
|
| 23 |
12 |
A_GPI3 |
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
|
X4 pinout
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 - 48 V
|
| 3 |
HV+ |
Motor power supply, HV DC bus |
12 - 48 V
|
JP1..4 pinout
JP1 to JP4 are pin headers for external encoder reading.
| 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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