Difference between revisions of "ATOMI connectors and pinouts"

From Granite Devices Knowledge Wiki
Jump to: navigation, search
[checked revision][checked revision]
Line 68: Line 68:
 
| 17||9|| class="inpin" |HSIN1_A||Pulse/step input A||18||22|| class="powpin" |GND
 
| 17||9|| class="inpin" |HSIN1_A||Pulse/step input A||18||22|| class="powpin" |GND
 
|-
 
|-
| 19||10|| class="outpin" |GPO1_X|| X axis servo ready signal ||20||23|| class="powpin" |GND
+
| 19||10|| class="outpin" |GPO1_X<sup>P</sup>|| X axis servo ready signal ||20||23|| class="powpin" |GND
 
|-
 
|-
| 21||11|| class="outpin" |GPO1_Y||Y axis servo ready signal||22||24|| class="powpin" |GND
+
| 21||11|| class="outpin" |GPO1_Y<sup>P</sup>||Y axis servo ready signal||22||24|| class="powpin" |GND
 
|-
 
|-
| 23||12|| class="outpin" |GPO1_Z||Z  axis servo ready signal||24||25|| class="powpin" |GND
+
| 23||12|| class="outpin" |GPO1_Z<sup>P</sup>||Z  axis servo ready signal||24||25|| class="powpin" |GND
 
|-
 
|-
| 25||13|| class="outpin" |GPO1_A||A  axis servo ready signal||26||N/A||Not connected||
+
| 25||13|| class="outpin" |GPO1_A<sup>P</sup>||A  axis servo ready signal||26||N/A||Not connected||
 
|}
 
|}
 
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 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 outputs source 3.3 V with maximum of 8 mA load.
 +
<sup>P</sup>) Internal 10 kOhm pull-up resistor.
  
 
===X3 - Additional setpoint and IO connector===
 
===X3 - Additional setpoint and IO connector===
Line 94: Line 94:
 
| 3||2|| class="powpin" |GND||GND / 0 V||4||15|| class="outpin" |Global_IO4||Global IO 4
 
| 3||2|| class="powpin" |GND||GND / 0 V||4||15|| class="outpin" |Global_IO4||Global IO 4
 
|-
 
|-
| 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
+
| 5||3|| class="outpin" |AUX_OUT<sup>1</sup>||Buffered output for AUX_IN||6||16|| class="outpin" |ANA_OUT||PWM to analogue converter output, 0 to 5 V
 
|-
 
|-
| 7||4|| class="inpin" |X_GPI2||Enable positive X travel||8||17|| class="inpin" |X_GPI3||Enable negative X travel
+
| 7||4|| class="inpin" |X_GPI2<sup>P</sup>||Enable positive X travel||8||17|| class="inpin" |X_GPI3<sup>P</sup>||Enable negative X travel
 
|-
 
|-
 
| 9||5|| class="outpin" |X_GPO4||X position within limits||10||18|| class="outpin" | X_GPO2 || X tracking error
 
| 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||12||19|| class="inpin" |Y_GPI2 || Enable positive Y travel
+
| 11||6|| class="inpin" |X_ANAIN|| X analogue setpoint input||12||19|| class="inpin" |Y_GPI2<sup>P</sup> || Enable positive Y travel
 
|-
 
|-
| 13||7|| class="inpin" |Y_GPI3||Enable negative Y travel||14||20|| class="outpin" | Y_GPO4 ||Y position within limits
+
| 13||7|| class="inpin" |Y_GPI3<sup>P</sup>||Enable negative Y travel||14||20|| class="outpin" | Y_GPO4 ||Y position within limits
 
|-
 
|-
 
| 15||8|| class="outpin" |Y_GPO2||Y tracking error||16||21|| class="inpin" |Y_ANAIN || Y analogue setpoint input
 
| 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||Enable positive Z travel||18||22|| class="inpin" |Z_GPI3 || Enable positive Z travel
+
| 17||9|| class="inpin" |Z_GPI2<sup>P</sup>||Enable positive Z travel||18||22|| class="inpin" |Z_GPI3<sup>P</sup> || Enable positive Z travel
 
|-
 
|-
 
| 19||10|| class="outpin" |Z_GPO4|| Z position within limits ||20||23|| class="outpin" |Z_GPO2 || Z tracking error
 
| 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||22||24|| class="inpin" |A_GPI2 || Enable positive A travel
+
| 21||11|| class="inpin" |Z_ANAIN||Z analogue setpoint input||22||24|| class="inpin" |A_GPI2<sup>P</sup> || Enable positive A travel
 
|-
 
|-
| 23||12|| class="inpin" |A_GPI3||Enable negative A travel||24||25|| class="outpin" |A_GPO4 || A position within limits
+
| 23||12|| class="inpin" |A_GPI3<sup>P</sup>||Enable negative A travel||24||25|| class="outpin" |A_GPO4 || A position within limits
 
|-
 
|-
 
| 25||13|| class="outpin" |A_GPO2||A tracking error||26||N/A|| class="inpin" | A_ANAIN ||A analogue setpoint input
 
| 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 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 source 3.3 V with maximum of 8 mA load.
 +
<sup>1</sup>) Open-drain buffer with 30 V 500 mA maximum rating.
 +
 
 +
<sup>P</sup>) Internal 10 kOhm pull-up resistor.
  
 
===X4 - Power input and STO connector===
 
===X4 - Power input and STO connector===

Revision as of 09:44, 9 May 2017

Legend

Color
Supply pin
Input pin
Output pin

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

Pin number Signal name Usage
1 SW Limit switch, shared for both directions
2 CHC / Homeswitch Encoder channel C (index) / homeswitch
3 CHB Encoder channel B
4 CHA Encoder channel A
5 +5 V 5 V supply voltage to encoder
6 GND Encoder supply ground / 0 V
7 PH4 Motor phase 4
8 W / PH3 Motor phase 3 / Servo W
9 V / PH2 Motor phase 2 / Servo V
10 U / PH1 Motor phase 1 / Servo U

X1 - Granity and SimpleMotion V2 connector

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 Pin number in header Pin number in D25 cable Signal name Typical usage
1 1 ENABLE Enable all axis (with or without chargepump) 2 14 Homing Start homing for all axis
3 2 HSIN2_X Direction input X 4 15 Global_GPO3 Global fault output
5 3 HSIN1_X Pulse/step input X 6 16 PWM2ANA PWM to analogue converter input
7 4 HSIN2_Y Direction input Y 8 17 AUX_IN Auxilary transistor input
9 5 HSIN1_Y Pulse/step input Y 10 18 GND Ground / 0 V
11 6 HSIN2_Z Direction input Z 12 19 GND
13 7 HSIN1_Z Pulse/step input Z 14 20 GND
15 8 HSIN2_A Direction input A 16 21 GND
17 9 HSIN1_A Pulse/step input A 18 22 GND
19 10 GPO1_XP X axis servo ready signal 20 23 GND
21 11 GPO1_YP Y axis servo ready signal 22 24 GND
23 12 GPO1_ZP Z axis servo ready signal 24 25 GND
25 13 GPO1_AP A axis servo ready signal 26 N/A Not connected

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.

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_OUT1 Buffered output for AUX_IN 6 16 ANA_OUT PWM to analogue converter output, 0 to 5 V
7 4 X_GPI2P Enable positive X travel 8 17 X_GPI3P 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_GPI2P Enable positive Y travel
13 7 Y_GPI3P 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_GPI2P Enable positive Z travel 18 22 Z_GPI3P 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_GPI2P Enable positive A travel
23 12 A_GPI3P 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 30 V 500 mA maximum rating.

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