Editing ATOMI connectors and pinouts
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! Pin number !! Signal name !! Usage | ! Pin number !! Signal name !! Usage | ||
− | |||
|- | |- | ||
− | | 1 || class="inpin" | | + | | 1 || class="inpin" | SW || Limit switch, shared for both directions |
− | + | ||
|- | |- | ||
− | | 2 || class="inpin" | CHC / | + | | 2 || class="inpin" | CHC / Homeswitch || Encoder channel C (index) / homeswitch |
− | + | ||
|- | |- | ||
| 3 || class="inpin" | CHB || Encoder channel B | | 3 || class="inpin" | CHB || Encoder channel B | ||
− | |||
|- | |- | ||
| 4 || class="inpin" | CHA || Encoder channel A | | 4 || class="inpin" | CHA || Encoder channel A | ||
− | |||
|- | |- | ||
| 5|| class="powpin" |+5 V || 5 V supply voltage to encoder | | 5|| class="powpin" |+5 V || 5 V supply voltage to encoder | ||
− | |||
|- | |- | ||
| 6|| class="powpin" |GND || Encoder supply ground / 0 V | | 6|| class="powpin" |GND || Encoder supply ground / 0 V | ||
− | |||
− | |||
− | |||
− | |||
− | |||
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|- | |- | ||
| 7|| class="outpin" |PH4 || Motor phase 4 | | 7|| class="outpin" |PH4 || Motor phase 4 | ||
− | |||
− | |||
− | |||
|- | |- | ||
− | | 8|| class="outpin" |PH3 || Motor phase 3 | + | | 8|| class="outpin" |W / PH3 || Motor phase 3 / Servo W |
− | + | ||
− | + | ||
− | + | ||
|- | |- | ||
− | | 9|| class="outpin" |PH2 || Motor phase 2 | + | | 9|| class="outpin" |V / PH2 || Motor phase 2 / Servo V |
− | + | ||
− | + | ||
− | + | ||
|- | |- | ||
− | | 10|| class="outpin" |PH1 || Motor phase 1 | + | | 10|| class="outpin" |U / PH1 || Motor phase 1 / Servo U |
− | + | ||
− | + | ||
− | + | ||
|} | |} | ||
===X1 - Granity and SimpleMotion V2 connector=== | ===X1 - Granity and SimpleMotion V2 connector=== | ||
− | |||
===X2 - Main setpoint connector=== | ===X2 - Main setpoint connector=== | ||
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{| 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 | ||
− | |||
| rowspan="14" class="tableseparator" | | | 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 | ||
− | |||
|- | |- | ||
− | | 1||1|| class="inpin" |ENABLE | + | | 1||1|| class="inpin" |ENABLE |||Enable all axis (with or without chargepump)||2||14|| class="inpin" |Homing|| Start homing for all axis |
− | + | ||
− | + | ||
|- | |- | ||
− | | 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 |
− | + | ||
− | + | ||
|- | |- | ||
− | | 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 |
− | + | ||
− | + | ||
|- | |- | ||
− | | 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 |
− | + | ||
− | + | ||
|- | |- | ||
− | | 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 |
− | + | ||
− | + | ||
|- | |- | ||
− | | 11||6|| class="inpin" |HSIN2_Z||Direction input Z | + | | 11||6|| class="inpin" |HSIN2_Z||Direction input Z||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 |
− | + | ||
− | + | ||
|- | |- | ||
− | | 15||8|| class="inpin" |HSIN2_A||Direction input A | + | | 15||8|| class="inpin" |HSIN2_A||Direction input A||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 |
− | + | ||
− | + | ||
|- | |- | ||
− | | 19||10|| class="outpin" |GPO1_X | + | | 19||10|| class="outpin" |GPO1_X|| X axis servo ready signal ||20||23|| class="powpin" |GND |
− | + | ||
− | + | ||
|- | |- | ||
− | | 21||11|| class="outpin" |GPO1_Y | + | | 21||11|| class="outpin" |GPO1_Y||Y axis servo ready signal||22||24|| class="powpin" |GND |
− | + | ||
− | + | ||
|- | |- | ||
− | | 23||12|| class="outpin" |GPO1_Z | + | | 23||12|| class="outpin" |GPO1_Z||Z axis servo ready signal||24||25|| class="powpin" |GND |
− | + | ||
− | + | ||
|- | |- | ||
− | | 25||13|| class="outpin" |GPO1_A | + | | 25||13|| class="outpin" |GPO1_A||A axis servo ready signal||26||N/A||Not connected|| |
− | + | ||
− | | | + | |
|} | |} | ||
Notes: | Notes: | ||
− | * | + | * All I/O have a 180 Ohm series resistor. |
− | * All outputs | + | * 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. | |
− | + | ||
− | + | ||
− | + | ||
===X3 - Additional setpoint and IO connector=== | ===X3 - Additional setpoint and IO connector=== | ||
Line 145: | Line 87: | ||
{| 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 | ||
− | |||
| rowspan="14" class="tableseparator" | | | 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 | ||
− | |||
|- | |- | ||
− | | 1||1|| class="powpin" |GND |||GND / 0 V | + | | 1||1|| class="powpin" |GND |||GND / 0 V||2||14|| class="powpin" |+5V|| +5 V supply |
− | + | ||
− | + | ||
|- | |- | ||
− | | 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 |
− | + | ||
− | + | ||
|- | |- | ||
− | | 5||3|| class="outpin" |AUX_OUT | + | | 5||3|| class="outpin" |AUX_OUT||Buffered output for AUX_IN||6||16|| class="outpin" |ANA_OUT||PWM to analogue converter output, 0 to 5 V |
− | + | ||
− | + | ||
− | ||6||16|| class="outpin" |ANA_OUT | + | |
− | |PWM to analogue converter output | + | |
− | + | ||
|- | |- | ||
− | | 7||4|| class="inpin" |X_GPI2 | + | | 7||4|| class="inpin" |X_GPI2||Enable positive X travel||8||17|| class="inpin" |X_GPI3||Enable negative X travel |
− | + | ||
− | + | ||
|- | |- | ||
− | | 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 |
− | + | ||
− | + | ||
|- | |- | ||
− | | 11||6|| class="inpin" |X_ANAIN|| X analogue setpoint input | + | | 11||6|| class="inpin" |X_ANAIN|| X analogue setpoint input||12||19|| class="inpin" |Y_GPI2 || Enable positive Y travel |
− | + | ||
− | + | ||
|- | |- | ||
− | | 13||7|| class="inpin" |Y_GPI3 | + | | 13||7|| class="inpin" |Y_GPI3||Enable negative Y travel||14||20|| class="outpin" | Y_GPO4 ||Y position within limits |
− | + | ||
− | + | ||
|- | |- | ||
− | | 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 |
− | + | ||
− | + | ||
|- | |- | ||
− | | 17||9|| class="inpin" |Z_GPI2 | + | | 17||9|| class="inpin" |Z_GPI2||Enable positive Z travel||18||22|| class="inpin" |Z_GPI3 || Enable positive Z travel |
− | + | ||
− | + | ||
|- | |- | ||
− | | 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 |
− | + | ||
− | + | ||
|- | |- | ||
− | | 21||11|| class="inpin" |Z_ANAIN||Z analogue setpoint input | + | | 21||11|| class="inpin" |Z_ANAIN||Z analogue setpoint input||22||24|| class="inpin" |A_GPI2 || Enable positive A travel |
− | + | ||
− | + | ||
|- | |- | ||
− | | 23||12|| class="inpin" |A_GPI3 | + | | 23||12|| class="inpin" |A_GPI3||Enable negative A travel||24||25|| class="outpin" |A_GPO4 || A position within limits |
− | + | ||
− | + | ||
|- | |- | ||
− | | 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 |
− | + | ||
− | + | ||
|} | |} | ||
Notes: | Notes: | ||
− | + | * All I/O have a 180 Ohm series resistor. | |
− | + | * All inputs are logic HIGH with input voltage from 2.7 V to 5 V. | |
− | * All | + | * All outputs source 3.3 V with maximum of 8 mA load. |
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
===X4 - Power input and STO connector=== | ===X4 - Power input and STO connector=== | ||
− | X4 is | + | X4 is three pin wire terminal for [[HV DC bus]] supply and [[Safe torque off]]. |
{| class="wikitable" | {| class="wikitable" | ||
|- | |- | ||
− | ! Pin number !! Signal name !! Usage !! | + | ! 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 | + | | 2|| class="inpin" |STO || [[Safe torque off]] || 3.3 - 49 V |
|- | |- | ||
− | | 3|| class="powpin" |HV+ || Motor power supply, [[HV DC bus]] || 12 - 49 V | + | | 3|| class="powpin" |HV+ || Motor power supply, [[HV DC bus]] || 12 - 49 V |
|} | |} | ||
Line 235: | Line 139: | ||
|- | |- | ||
! Pin number !! Signal name !! Usage | ! Pin number !! Signal name !! Usage | ||
− | |||
|- | |- | ||
| 1 || class="powpin" | +5V|| +5 V supply | | 1 || class="powpin" | +5V|| +5 V supply | ||
− | |||
|- | |- | ||
| 2 || class="outpin" |CHA || Encoder channel A | | 2 || class="outpin" |CHA || Encoder channel A | ||
− | |||
− | |||
|- | |- | ||
| 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 | ||
− | |||
− | |||
|- | |- | ||
| 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 | ||
− | |||
− | |||
|} | |} |