Editing ATOMI connectors and pinouts

===Legend===
{| class="wikitable"
|-
! Color
|-
| class="powpin" |Supply pin
|-
| class="inpin" |Input pin
|-
| class="outpin" |Output pin
|}

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

{| class="wikitable"
|-
!  Pin number !! Signal name !! Usage
! colspan="3" |Notes / Specifications
|-
| 1 || class="inpin" | SW || Limit switch, shared for both directions
| colspan="3" |Internal 2.2 kOhm pull-up resistor
|-
| 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
| colspan="3" |Internal 2.2 kOhm pull-up resistor
|-
| 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
| colspan="3" |Total 1.5 A current limit for +5 V bus
|-
| 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
| -
|Coil B.2
|Armature +
|-
| 8|| class="outpin" |W / PH3 || Motor phase 3
|W (T)
|Coil B.1
|Armature -
|-
| 9|| class="outpin" |V / PH2 || Motor phase 2
|V (S)
|Coil A.2
|Armature -
|-
| 10|| class="outpin" |U / 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===
{{damage|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.
{| class="wikitable"
! Pin number in header!!Pin number in D25 cable!!Signal name!!Typical usage
!Notes / Specifications
| rowspan="14" class="tableseparator" |
!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
|Active low||2||14|| class="inpin" |Homing|| Start homing for all axis
|Active low
|-
| 3||2|| class="inpin" |HSIN2_X||Direction input X
|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
|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
|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
|PWM setpoint||10||18|| class="powpin" |GND|| rowspan="9" |Ground / 0 V
| -
|-
| 11||6|| class="inpin" |HSIN2_Z||Direction input Z
|Direction input for PWM <sup>D</sup>||12||19|| class="powpin" |GND
| -
|-
| 13||7|| class="inpin" |HSIN1_Z||Pulse/step input Z
|PWM setpoint||14||20|| class="powpin" |GND
| -
|-
| 15||8|| class="inpin" |HSIN2_A||Direction input A
|Direction input for PWM <sup>D</sup>||16||21|| class="powpin" |GND
| -
|-
| 17||9|| class="inpin" |HSIN1_A||Pulse/step input A
|PWM setpoint||18||22|| class="powpin" |GND
| -
|-
| 19||10|| class="outpin" |GPO1_X <sup>P</sup>|| X axis servo ready signal 
|Active low||20||23|| class="powpin" |GND
| -
|-
| 21||11|| class="outpin" |GPO1_Y <sup>P</sup>||Y axis servo ready signal
|Active low||22||24|| class="powpin" |GND
| -
|-
| 23||12|| class="outpin" |GPO1_Z <sup>P</sup>||Z  axis servo ready signal
|Active low||24||25|| class="powpin" |GND
| -
|-
| 25||13|| class="outpin" |GPO1_A <sup>P</sup>||A  axis servo ready signal
|Active low||26||N/A|| class="powpin" |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.
* 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===
{{damage|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. 
{| class="wikitable"
! Pin number in header!!Pin number in D25 cable!!Signal name!!Typical usage
!Notes / Specifications
| rowspan="14" class="tableseparator" |
!Pin number in header!!Pin number in D25 cable!!Signal name!!Typical usage
!Notes / Specifications
|-
| 1||1|| class="powpin" |GND |||GND / 0 V
| -||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
| -||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
|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>
|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
|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>
|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>
|Active low||14||20|| class="outpin" | Y_GPO4 ||Y position within limits
|Active low
|-
| 15||8|| class="outpin" |Y_GPO2||Y tracking error
|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>
|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 
|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>
|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>
|Active low||24||25|| class="outpin" |A_GPO4 || A position within limits
|Active low
|-
| 25||13|| class="outpin" |A_GPO2||A tracking error
|Active low||26||N/A|| class="inpin" | A_ANAIN ||A analogue setpoint input
|0 - 3.3 V <sup>A</sup>
|}
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.
* 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 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 is three pin wire terminal for [[HV DC bus]] supply and [[Safe torque off]].
{| class="wikitable"
|-
!  Pin number !! Signal name !! Usage !! Notes / Specifications
|-
| 1 || class="powpin" | GND|| Ground || -
|-
| 2|| class="inpin" |STO || [[Safe torque off]] || 3.3 - 49 V input voltage
|-
| 3|| class="powpin" |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.
{| class="wikitable"
|-
!  Pin number !! Signal name !! Usage
!Notes / Specifications
|-
| 1 || class="powpin" | +5V|| +5 V supply
|Total 1.5 A current limit for +5 V bus
|-
| 2 || class="outpin" |CHA || Encoder channel A
|Direct connection to encoder output
|-
| 3 || class="powpin" |GND || GND / 0 V
| -
|-
| 4 || class="outpin" |CHB || Encoder channel B
|Direct connection to encoder output
|-
| 5 || class="powpin" |GND || GND / 0 V
| -
|-
| 6 || class="outpin" |CHC || Encoder channel C
|Direct connection to encoder output
|}