ATOMI connectors and pinouts
Contents
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
 | 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.
| 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
| 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.
| 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 |
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