Editing ATOMI connectors and pinouts

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|-
 
|-
 
!  Pin number !! Signal name !! Usage
 
!  Pin number !! Signal name !! Usage
−
! colspan="3" |Notes / Specifications
 
 
|-
 
|-
−
| 1 || class="inpin" | Limit || Limit switch, shared for both directions
+
| 1 || class="inpin" | SW || Limit switch, shared for both directions
−
| colspan="3" |Internal 2.2 kOhm pull-up resistor
+
 
|-
 
|-
−
| 2 || class="inpin" | CHC / Home || Encoder channel C (index) / home switch
+
| 2 || class="inpin" | CHC / Homeswitch || Encoder channel C (index) / homeswitch
−
| colspan="3" |Internal 2.2 kOhm pull-up resistor
+
 
|-
 
|-
 
| 3 || class="inpin" | CHB || Encoder channel B
 
| 3 || class="inpin" | CHB || Encoder channel B
−
| colspan="3" |Internal 2.2 kOhm pull-up resistor
 
 
|-
 
|-
 
| 4 || class="inpin" | CHA || Encoder channel A
 
| 4 || class="inpin" | CHA || Encoder channel A
−
| colspan="3" |Internal 2.2 kOhm pull-up resistor
 
 
|-
 
|-
 
| 5|| class="powpin" |+5 V || 5 V supply voltage to encoder
 
| 5|| class="powpin" |+5 V || 5 V supply voltage to encoder
−
| colspan="3" |Total 1.5 A current limit for +5 V bus
 
 
|-
 
|-
 
| 6|| class="powpin" |GND || Encoder supply ground / 0 V
 
| 6|| class="powpin" |GND || Encoder supply ground / 0 V
−
| colspan="3" |Also ground for cable shield
 
−
|-
 
−
|
 
−
|
 
−
|
 
−
|'''AC/BLDC motor'''
 
−
|'''Stepper motor'''
 
−
|'''Brush DC motor'''
 
 
|-
 
|-
 
| 7|| class="outpin" |PH4 || Motor phase 4
 
| 7|| class="outpin" |PH4 || Motor phase 4
−
| -
 
−
|Coil B.2
 
−
|Armature +
 
 
|-
 
|-
−
| 8|| class="outpin" |PH3 || Motor phase 3
+
| 8|| class="outpin" |W / PH3 || Motor phase 3 / Servo W
−
|W (T)
+
−
|Coil B.1
+
−
|Armature -
+
 
|-
 
|-
−
| 9|| class="outpin" |PH2 || Motor phase 2
+
| 9|| class="outpin" |V / PH2 || Motor phase 2 / Servo V
−
|V (S)
+
−
|Coil A.2
+
−
|Armature -
+
 
|-
 
|-
−
| 10|| class="outpin" |PH1 || Motor phase 1
+
| 10|| class="outpin" |U / PH1 || Motor phase 1 / Servo U
−
|U (R)
+
−
|Coil A.1
+
−
|Armature +
+
 
|}
 
|}
  
 
===X1 - Granity and SimpleMotion V2 connector===
 
===X1 - Granity and SimpleMotion V2 connector===
  
−
Standard mini-USB connector. Please refer to [[Granity]] pages for further instructions.
 
  
 
===X2 - Main setpoint connector===
 
===X2 - Main setpoint connector===
Line 74: Line 47:
 
{| class="wikitable"
 
{| class="wikitable"
 
! 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
−
!Notes / Specifications
+
| class="tableseparator" rowspan="14" |
−
| rowspan="14" class="tableseparator" |
+
 
!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
−
!Notes / Specifications
 
 
|-
 
|-
−
| 1||1|| class="inpin" |ENABLE <sup>P</sup> |||Enable all axis
+
| 1||1|| class="inpin" |ENABLE |||Enable all axis (with or without chargepump)||2||14|| class="inpin" |Homing|| Start homing for all axis
−
|Active low||2||14|| class="inpin" |Homing|| Start homing for all axis
+
−
|Active low
+
 
|-
 
|-
−
| 3||2|| class="inpin" |HSIN2_X||Direction input X
+
| 3||2|| class="inpin" |HSIN2_X||Direction input X||4||15|| class="outpin" |Global_GPO3||Global fault output
−
|Direction input for PWM <sup>D</sup>||4||15|| class="outpin" |Global_GPO3 <sup>P</sup>||Global fault output
+
−
|Active low
+
 
|-
 
|-
−
| 5||3|| class="inpin" |HSIN1_X||Pulse/step input X
+
| 5||3|| class="inpin" |HSIN1_X||Pulse/step input X||6||16|| class="inpin" |PWM2ANA||PWM to analogue converter input
−
|PWM setpoint||6||16|| class="inpin" |PWM2ANA||PWM to analogue converter input
+
−
|Frequency must be 100 - 10000 Hz
+
 
|-
 
|-
−
| 7||4|| class="inpin" |HSIN2_Y||Direction input Y
+
| 7||4|| class="inpin" |HSIN2_Y||Direction input Y||8||17|| class="inpin" |AUX_IN||Auxilary transistor input
−
|Direction input for PWM <sup>D</sup>||8||17|| class="inpin" |AUX_IN||Auxilary transistor input
+
−
|Open-drain buffer gate signal
+
 
|-
 
|-
−
| 9||5|| class="inpin" |HSIN1_Y||Pulse/step input Y
+
| 9||5|| class="inpin" |HSIN1_Y||Pulse/step input Y||10||18|| class="powpin" |GND|| rowspan="8" |Ground / 0 V
−
|PWM setpoint||10||18|| class="powpin" |GND|| rowspan="9" |Ground / 0 V
+
−
| -
+
 
|-
 
|-
−
| 11||6|| class="inpin" |HSIN2_Z||Direction input Z
+
| 11||6|| class="inpin" |HSIN2_Z||Direction input Z||12||19|| class="powpin" |GND
−
|Direction input for PWM <sup>D</sup>||12||19|| class="powpin" |GND
+
−
| -
+
 
|-
 
|-
−
| 13||7|| class="inpin" |HSIN1_Z||Pulse/step input Z
+
| 13||7|| class="inpin" |HSIN1_Z||Pulse/step input Z||14||20|| class="powpin" |GND
−
|PWM setpoint||14||20|| class="powpin" |GND
+
−
| -
+
 
|-
 
|-
−
| 15||8|| class="inpin" |HSIN2_A||Direction input A
+
| 15||8|| class="inpin" |HSIN2_A||Direction input A||16||21|| class="powpin" |GND
−
|Direction input for PWM <sup>D</sup>||16||21|| class="powpin" |GND
+
−
| -
+
 
|-
 
|-
−
| 17||9|| class="inpin" |HSIN1_A||Pulse/step input A
+
| 17||9|| class="inpin" |HSIN1_A||Pulse/step input A||18||22|| class="powpin" |GND
−
|PWM setpoint||18||22|| class="powpin" |GND
+
−
| -
+
 
|-
 
|-
−
| 19||10|| class="outpin" |GPO1_X <sup>P</sup>|| X axis servo ready signal  
+
| 19||10|| class="outpin" |GPO1_X|| X axis servo ready signal ||20||23|| class="powpin" |GND
−
|Active low||20||23|| class="powpin" |GND
+
−
| -
+
 
|-
 
|-
−
| 21||11|| class="outpin" |GPO1_Y <sup>P</sup>||Y axis servo ready signal
+
| 21||11|| class="outpin" |GPO1_Y||Y axis servo ready signal||22||24|| class="powpin" |GND
−
|Active low||22||24|| class="powpin" |GND
+
−
| -
+
 
|-
 
|-
−
| 23||12|| class="outpin" |GPO1_Z <sup>P</sup>||Z  axis servo ready signal
+
| 23||12|| class="outpin" |GPO1_Z||Z  axis servo ready signal||24||25|| class="powpin" |GND
−
|Active low||24||25|| class="powpin" |GND
+
−
| -
+
 
|-
 
|-
−
| 25||13|| class="outpin" |GPO1_A <sup>P</sup>||A  axis servo ready signal
+
| 25||13|| class="outpin" |GPO1_A||A  axis servo ready signal||26||N/A||Not connected||
−
|Active low||26||N/A|| class="powpin" |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.
 
−
<sup>D</sup>) PWM can be used with or without direction signal. With PWM setpoint without direction signal 50 % PWM = zero setpoint.
 
−
 
−
<sup>P</sup>) Internal 10 kOhm pull-up resistor.
 
  
 
===X3 - Additional setpoint and IO connector===
 
===X3 - Additional setpoint and IO connector===
Line 145: Line 83:
 
{| class="wikitable"
 
{| class="wikitable"
 
! 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
−
!Notes / Specifications
+
| class="tableseparator" rowspan="14" |
−
| rowspan="14" class="tableseparator" |
+
 
!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
−
!Notes / Specifications
 
 
|-
 
|-
−
| 1||1|| class="powpin" |GND |||GND / 0 V
+
| 1||1|| class="powpin" |GND |||GND / 0 V||2||14|| class="powpin" |+5V|| +5 V supply
−
| -||2||14|| class="powpin" |+5V|| +5 V supply
+
−
|Total 1.5 A current limit for +5 V bus
+
 
|-
 
|-
−
| 3||2|| class="powpin" |GND||GND / 0 V
+
| 3||2|| class="powpin" |GND||GND / 0 V||4||15|| class="outpin" |Global_IO4||Global IO 4
−
| -||4||15|| class="outpin" |Global_IO4 <sup>P</sup>||Reserved for future use
+
−
|Reserved for future use
+
 
|-
 
|-
−
| 5||3|| class="outpin" |AUX_OUT <sup>S</sup>||Inverter buffer for AUX_IN
+
| 5||3|| class="outpin" |AUX_OUT||Buffered output for AUX_IN||6||16|| class="outpin" |ANA_OUT||PWM to analogue converter output, 0..5 V
−
|24 V 500 mA open-drain buffer.
+
−
Active when AUX_IN = HIGH.
+
−
||6||16|| class="outpin" |ANA_OUT <sup>S</sup>||VFD speed control signal
+
−
|PWM to analogue converter output.
+
−
Output voltage range 0 - 5 V.
+
 
|-
 
|-
−
| 7||4|| class="inpin" |X_GPI2 <sup>P</sup>||Disable positive X travel <sup>L</sup>
+
| 7||4|| class="inpin" |X_GPI2||Enable positive X travel||8||17|| class="inpin" |X_GPI3||Enable negative X travel
−
|Active low||8||17|| class="inpin" |X_GPI3 <sup>P</sup>||Disable negative X travel <sup>L</sup>
+
−
|Active low
+
 
|-
 
|-
−
| 9||5|| class="outpin" |X_GPO4||X position within limits
+
| 9||5|| class="outpin" |X_GPO4||X position within limits||10||18|| class="outpin" | X_GPO2 || X tracking error
−
|Active low||10||18|| class="outpin" | X_GPO2 || X tracking error
+
−
|Active low
+
 
|-
 
|-
−
| 11||6|| class="inpin" |X_ANAIN|| X analogue setpoint input <sup>A</sup>
+
| 11||6|| class="inpin" |X_ANAIN|| X analogue setpoint input||12||19|| class="inpin" |Y_GPI2 || Enable positive Y travel
−
|0 - 3.3 V <sup>A</sup>||12||19|| class="inpin" |Y_GPI2 <sup>P</sup> || Disable positive Y travel <sup>L</sup>
+
−
|Active low
+
 
|-
 
|-
−
| 13||7|| class="inpin" |Y_GPI3 <sup>P</sup>||Disable negative Y travel <sup>L</sup>
+
| 13||7|| class="inpin" |Y_GPI3||Enable negative Y travel||14||20|| class="outpin" | Y_GPO4 ||Y position within limits
−
|Active low||14||20|| class="outpin" | Y_GPO4 ||Y position within limits
+
−
|Active low
+
 
|-
 
|-
−
| 15||8|| class="outpin" |Y_GPO2||Y tracking error
+
| 15||8|| class="outpin" |Y_GPO2||Y tracking error||16||21|| class="inpin" |Y_ANAIN || Y analogue setpoint input
−
|Active low||16||21|| class="inpin" |Y_ANAIN || Y analogue setpoint input
+
−
|0 - 3.3 V <sup>A</sup>
+
 
|-
 
|-
−
| 17||9|| class="inpin" |Z_GPI2 <sup>P</sup>||Disable positive Z travel <sup>L</sup>
+
| 17||9|| class="inpin" |Z_GPI2||Enable positive Z travel||18||22|| class="inpin" |Z_GPI3 || Enable positive Z travel
−
|Active low||18||22|| class="inpin" |Z_GPI3 <sup>P</sup> || Disable negative Z travel <sup>L</sup>
+
−
|Active low
+
 
|-
 
|-
−
| 19||10|| class="outpin" |Z_GPO4|| Z position within limits  
+
| 19||10|| class="outpin" |Z_GPO4|| Z position within limits ||20||23|| class="outpin" |Z_GPO2 || Z tracking error
−
|Active low||20||23|| class="outpin" |Z_GPO2 || Z tracking error
+
−
|Active low
+
 
|-
 
|-
−
| 21||11|| class="inpin" |Z_ANAIN||Z analogue setpoint input <sup>A</sup>
+
| 21||11|| class="inpin" |Z_ANAIN||Z analogue setpoint input||22||24|| class="inpin" |A_GPI2 || Enable positive A travel
−
|0 - 3.3 V <sup>A</sup>||22||24|| class="inpin" |A_GPI2 <sup>P</sup> || Disable positive A travel <sup>L</sup>
+
−
|Active low
+
 
|-
 
|-
−
| 23||12|| class="inpin" |A_GPI3 <sup>P</sup>||Disable negative A travel <sup>L</sup>
+
| 23||12|| class="inpin" |A_GPI3||Enable negative A travel||24||25|| class="outpin" |A_GPO4 || A position within limits
−
|Active low||24||25|| class="outpin" |A_GPO4 || A position within limits
+
−
|Active low
+
 
|-
 
|-
−
| 25||13|| class="outpin" |A_GPO2||A tracking error
+
| 25||13|| class="outpin" |A_GPO2||A tracking error||26||N/A|| class="inpin" | A_ANAIN ||A analogue setpoint input
−
|Active low||26||N/A|| class="inpin" | A_ANAIN ||A analogue setpoint input
+
−
|0 - 3.3 V <sup>A</sup>
+
 
|}
 
|}
−
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.
 
−
<sup>A</sup>) Setpoint = zero with 50 % input voltage if direction signal is not used.
 
−
 
−
<sup>L</sup>) 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.
 
−
 
−
<sup>P</sup>) Internal 10 kOhm pull-up resistor.
 
−
 
−
<sup>S</sup>) Controllable through SimpleMotionV2 bus.
 
  
 
===X4 - Power input and STO connector===
 
===X4 - Power input and STO connector===
−
X4 is a wire terminal for [[HV DC bus]] supply and [[Safe torque off]].
+
X4 is three pin wire terminal for [[HV DC bus]] supply and [[Safe torque off]].
 
{| class="wikitable"
 
{| class="wikitable"
 
|-
 
|-
−
!  Pin number !! Signal name !! Usage !! Notes / Specifications
+
!  Pin number !! Signal name !! Usage !! Electrical
 
|-
 
|-
−
| 1 || class="powpin" | GND|| Ground || -
+
| 1 || class="powpin" | GND|| Ground ||  
 
|-
 
|-
−
| 2|| class="inpin" |STO || [[Safe torque off]] || 3.3 - 49 V input voltage
+
| 2|| class="inpin" |STO || [[Safe torque off]] || 3.3 - 48 V
 
|-
 
|-
−
| 3|| class="powpin" |HV+ || Motor power supply, [[HV DC bus]] || 12 - 49 V, 18 A maximum current through connector
+
| 3|| class="powpin" |HV+ || Motor power supply, [[HV DC bus]] || 12 - 48 V
 
|}
 
|}
  
Line 235: Line 131:
 
|-
 
|-
 
!  Pin number !! Signal name !! Usage
 
!  Pin number !! Signal name !! Usage
−
!Notes / Specifications
 
 
|-
 
|-
 
| 1 || class="powpin" | +5V|| +5 V supply
 
| 1 || class="powpin" | +5V|| +5 V supply
−
|Total 1.5 A current limit for +5 V bus
 
 
|-
 
|-
 
| 2 || class="outpin" |CHA || Encoder channel A
 
| 2 || class="outpin" |CHA || Encoder channel A
−
|Direct connection to encoder output signal
 
−
Internal 2.2 kOhm pull-up resistor
 
 
|-
 
|-
 
| 3 || class="powpin" |GND || GND / 0 V
 
| 3 || class="powpin" |GND || GND / 0 V
−
| -
 
 
|-
 
|-
 
| 4 || class="outpin" |CHB || Encoder channel B
 
| 4 || class="outpin" |CHB || Encoder channel B
−
|Direct connection to encoder output signal
 
−
Internal 2.2 kOhm pull-up resistor
 
 
|-
 
|-
 
| 5 || class="powpin" |GND || GND / 0 V
 
| 5 || class="powpin" |GND || GND / 0 V
−
| -
 
 
|-
 
|-
 
| 6 || class="outpin" |CHC || Encoder channel C
 
| 6 || class="outpin" |CHC || Encoder channel C
−
|Direct connection to encoder output signal
 
−
Internal 2.2 kOhm pull-up resistor
 
 
|}
 
|}

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