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	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

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

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	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

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

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

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

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.