ATOMI connectors and pinouts

Legend

Color
Supply pin
Input pin
Output pin

MX, MY, MZ, MA - Motor and encoder connectors

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

X2 - Main setpoint connector

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	Gate for open-drain buffer
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:

• All inputs are logic HIGH with input voltage from 2.7 V to 5 V.
• All outputs source 3.3 V with maximum of 8 mA load.

^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

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 1	Buffered output for AUX_IN		6	16	ANA_OUT	PWM to analogue converter output, 0 to 5 V
7	4	X_GPI2 P	Enable positive X travel		8	17	X_GPI3 P	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 P	Enable positive Y travel
13	7	Y_GPI3 P	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 P	Enable positive Z travel		18	22	Z_GPI3 P	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 P	Enable positive A travel
23	12	A_GPI3 P	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

Notes:

• All inputs are logic HIGH with input voltage from 2.7 V to 5 V.
• All GPO pins source 3.3 V with maximum of 8 mA load.

¹) Open-drain buffer with 24 V 500 mA maximum rating. Active when AUX_IN = HIGH.

^P) Internal 10 kOhm pull-up resistor.

X4 - Power input and STO connector

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 - 49 V
3	HV+	Motor power supply, HV DC bus	12 - 49 V

JP1 to JP4 - Encoder passthrough connector

JP1 to JP4 are pin headers for external encoder use.

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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