Editing Argon user guide/J5 connector electrical interfacing

{{SetAUGTitle|J5 connector wiring}}{{ArgonManualNav}}This article explains the internal circuity behind J5 connector of [[Argon (servo drive)|Argon servo drive]].
{{damage|Exceeding ratings may affect drive operation and cause instability or even damage the drive.}}

==J5 connector pin-out and electrical ratings==
*Overview: [[Argon wiring]]
*I/O electrical ratings: [[Argon specifications]]
==Pin groups==
[[File:J5groups.png|480px]]
===Internal schematics of pin groups===
These images show the circuity behind the J5 connector inside the Argon drive (simplified schematics). Left side end represents J5 pins and right side continues to drive internal circuity.
<gallery widths=250>
File:hsin.png|'''High speed digital input''' circuity inside the drive. Total 1 of these circuits.
File:anain.png|'''Analog input''' circuity inside the drive. Total 2 of these circuits.
File:gpo.png|'''Digital output''' circuity inside the drive. Total 4 of these circuits.
File:gpi.png|'''Digital input''' circuity inside the drive. D27 protects optocoupler from reverse polarity and ESD. Total 4 of these circuits.
</gallery>
===Pin-out===
{| class="wikitable"
|-
! Pin # !! Pin name !! Electrical || Isolated || Function¹
|-
| 1 || GND || [[Argon I/O connector electrical interfacing#Supply| Supply ]]|| rowspan=10|No² ||  Ground
|-
| 2 || +5V_OUT ||  [[Argon I/O connector electrical interfacing#Supply| Supply ]] || 5V output
|-

| 3 || HSIN1- ||  [[Argon I/O connector electrical interfacing#High speed input| High speed digital input ]] || rowspan=2 |Pulse train, Quadrature A channel or PWM [[setpoint signal|input setpoint]]
|-
| 4 || HSIN1+ ||  [[Argon I/O connector electrical interfacing#High speed input| High speed digital input ]] 
|-

| 5 || HSIN2- ||  [[Argon I/O connector electrical interfacing#High speed input| High speed digital input ]] || rowspan=2 |Pulse train direction, Quadrature B channel
|-
| 6 || HSIN2+ ||  [[Argon I/O connector electrical interfacing#High speed input| High speed digital input ]] 
|-

| 7 || ANAIN1- || [[Argon I/O connector electrical interfacing#Analog input| Analog input ]] || rowspan=2 |Analog [[setpoint signal|input setpoint]]
|-
| 8 || ANAIN1+ || [[Argon I/O connector electrical interfacing#Analog input| Analog input ]] 
|-

| 9 || ANAIN2- || [[Argon I/O connector electrical interfacing#Analog input| Analog input ]] || rowspan=2 |Inverts analog [[setpoint signal]] of ANAIN1 if voltage between ANAIN2+ and ANAIN2- is between 3-24VDC. Used for 0-10V outputs with digital direction signal.
|-
| 10 || ANAIN2+ ||  [[Argon I/O connector electrical interfacing#Analog input| Analog input ]] 
|-

| 11 || GPO1- ||  [[Argon I/O connector electrical interfacing#Digital output| Digital output ]] || rowspan=16 |Yes² || rowspan=2 | Servo ready status. True when drive is initialized and ready to accept user commands/setpoint.
|-
| 12 || GPO1+ || [[Argon I/O connector electrical interfacing#Digital output| Digital output]] 
|-

| 13 || GPO2- || [[Argon I/O connector electrical interfacing#Digital output| Digital output ]] || rowspan=2 | Follow error warning status. True when following error has reached more than user configured 1/8 of fault limit value.
|-
| 14 || GPO2+ || [[Argon I/O connector electrical interfacing#Digital output| Digital output]] 
|-

| 15 || GPO3- || [[Argon I/O connector electrical interfacing#Digital output| Digital output ]] || rowspan=2 | Fault stop status. True when drive is stopped due to fault.
|-
| 16 || GPO3+ || [[Argon I/O connector electrical interfacing#Digital output| Digital output]] 
|-

| 17 || GPO4- || [[Argon I/O connector electrical interfacing#Digital output| Digital output ]] || rowspan=2 | Braking status. Set true when drive attempts to brake motor.
|-
| 18 || GPO4+ || [[Argon I/O connector electrical interfacing#Digital output| Digital output]] 
|-

| 19 || GPI1- || [[Argon I/O connector electrical interfacing#Digital output| Digital input ]] || rowspan=2 | Home switch input.
|-
| 20 || GPI1+ || [[Argon I/O connector electrical interfacing#Digital output| Digital input]] 
|-

| 21 || GPI2- || [[Argon I/O connector electrical interfacing#Digital output| Digital input ]] || rowspan=2 | Positive feed enable input. Used for axis limit switches.
|-
| 22 || GPI2+ || [[Argon I/O connector electrical interfacing#Digital output| Digital input]] 
|-

| 23 || GPI3- || [[Argon I/O connector electrical interfacing#Digital output| Digital input ]] || rowspan=2 | Negative feed enable input. Used for axis limit switches.
|-
| 24 || GPI3+ || [[Argon I/O connector electrical interfacing#Digital output| Digital input]] 
|-

| 25 || GPI4- || [[Argon I/O connector electrical interfacing#Digital output| Digital input ]] || rowspan=2 | Clear drive faults input. Transition from false to true attempts to reset active faults of drive. If drive is simultaneously in enabled state, motor will start moving immediately.
|-
| 26 || GPI4+ || [[Argon I/O connector electrical interfacing#Digital output| Digital input]] 
|-
|}
¹) This is the default function with stock firmware. Function may be different in future or custom firmware versions.

²) Non-isolated lines are referenced to GND pin / J3 V- terminal. Isolated lines have functional isolation between GND and other isolated +-/- pairs.

==Wiring guide==
===Supply===
Supply pins output a regulated 5V voltage to external circuits. GND pin is tied to J3 connector V- terminal.

;Electrical properties
*Output voltage 4.9-5.2 V
*Maximum load 500 mA 
*Maximum injected current -10 mA
{{damage|Never connect multiple supply outputs parallel. Supply output may be connected only current consuming circuity to prevent current injection to the supply port.}}

===High speed digital input group===
HSIN is differential digital input capable of receiving digital signals up to 4 MHz. 

Electrical properties
*Maximum voltage to HSINx+/- pins referenced to GND: -0.5 to 6V. Nominal 3.3 or 5.0V.
*Maximum injected current +/- 10 mA
*When negative input (HSINx-) is left floating, it floats around 2.5V
*Input state reads logic 1 when voltage on positive pin is greater than voltage on negative pin, otherwise it's logic 0

Wiring when driving using differential source
*Positive outputs of source to HSINx+
*Negative outputs of source to HSINx-
*GND must be connected to source ground

Wiring when driving using single ended source (TTL, CMOS or open collector)
*Outputs of source to HSINx+
*Leave HSINx- floating
*GND must be connected to source ground

===Analog input group===
Analog input accepts ±10V from and may be used as [[setpoint signal]].
Electrical properties
*Input impedance ~10 kΩ
*Maximum ANAINx+/- pin voltage vs GND ±25V
*Maximum injected current ±10 mA
*Sampling resolution 12 bits
Wiring to differential signal source
*Connect positive output to ANAINx+
*Connect negative (inverted) output to ANAINx-
*Connect source ground to GND
Wiring to single ended signal source
*Connect output to ANAINx+
*Connect source ground to ANAINx-
*Connect source ground to GND
Wiring to 0-10V analog output with digital direction output:
*Follow the earlier guidelines but connect direction output to ANAIN2+ and the ground reference of digital output to ANAIN2-. Anain1 gets inverted in the drive if ANAIN2 voltage is between 3-24VDC and non-inverted between 0-3VDC.

===Digital output group===
Digital output is an optoisolated transistor output to drive various types of inputs of target devices (logic gates, relays, lights etc)
Electrical properties
*Load voltage range 3-24V
*Maximum allowed load 50 mA
*Logic 1 state equals conducting state of optocoupler transistor (current flows from GPO+ to GPO- pins), logic 0 stops current flow between GPO+ to GPO- pins.
*+ to - pin voltage drop at 50 mA less than 2 VDC
Wiring to logic gate input (CMOS or TTL)
*Connect GPO+ pin to target VCC (typ 5V)
*Connect GPO- pin to target input pin (so input pin is pulled to 5V when output state is logic 1)

===Digital input group===
[[File:gpiswitch.png|thumb|Connection from electromechanical switch or relay to isolated digital input. PSU may be external power supply or 5V supply from J5 connector.]]
Digital inputs are optoisolated (floating potential) inputs for general purpose control signals.
Electrical properties
*Signal voltage range 3-24V
*Logic 0 when difference between +/- inputs less than 1.5V, logic 1 when voltage is between 2.9-25V
*Current needed to drive logic 1 is 0.8-9 mA depending on input voltage
*Maximum voltage difference between GPIx+/- inputs 27 VDC
*Maximum voltage difference between GPIx+/- inputs vs GND 120 VDC
Connection to electromechanical switch or relay
*See schematics image in right side
Connection to CMOS source
*Connect source output to GPIx+ input 
*Connect source ground to GPIx- input
Connection to open collector or TTL source
*Connect source output to GPIx- input 
*Connect source VCC (typ 5V) to GPOx+ input
{{caution|Digital input and output isolation is only functional and does not provide safety insulation. Connect only to [http://en.wikipedia.org/wiki/Extra-low_voltage ELV circuits].}}

==Examples==
===Wiring axis limit and home switches to J5===
To operate the motor, limit switches must be connected to the GPI1 and GPI2. Feeding logic 1 to one of these ports enables axis motion feed in certain direction. 

The behavior of feed enable signals can be configured via [[Granity user guide/Machine|Granity machine tab]]. Logic 1 to these pins is required for drive operation:
*GPI1 - enable positive direction feed. 
*GPI2 - enable negative direction feed. 
Home switch (optional):
*GPI3 - home switch input. Polarity can be configured via Granity.

In the image below A way to connect switches to J5 port. Inputs are supplied by the J5 connector 5V output. Alternatively the switches may be also supplied from an external 5-24VDC supply.

[[File:J5switches.png|500px]]

===Pulse and direction setpoint===
This example shows how to wire a typical single ended [[Pulse and direction|pulse and direction]] controller.

[[File:j5pulsedir.png|400px]]
===Quadrature signal setpoint===
This example shows how to wire a typical single ended [[quadrature]] controller.

[[File:j5quadrature.png|420px]]
===PWM signal setpoing===
This example shows how to wire a typical single ended [[PWM]] controller.

[[file:j5pwm.png|390px]]

===Analog signal setpoint===
This example shows how to wire a typical single ended [[Analog setpoint]] controller. Maximum analog signal voltage is +/-10V.

[[file:j5analog.png|390px]]
====0-10V analog input with digital direction signal====
Follow the earlier guidelines but connect direction output to ANAIN2+ and the ground reference of digital output to ANAIN2-. Anain1 gets inverted in the drive if ANAIN2 voltage is between 3-24VDC and non-inverted between 0-3VDC.




===Complete example with pulse & direction===
The examples above can be combined to achieve the user goals. The example below has complete set of I/O features used. 
*Pulse & direction set point
*Clear faults output (off-on-off pulse generated by controller user if FAULT input goes on)
*Monitoring of drive state: servo ready, tracking error warning, drive fault, motor braking status
*Axis limit switches & home switch
Notes:
*The controller in the example has 5 volt single ended inputs & outputs
*Controller inputs have pull-down resistor or other means to ensure ''off'' or 0 state when input is floating
*It's not required to to monitor & control the I/O lines at controller

[[file:j5pulsedircomplete.png|700px]]


===Complete example with differential analog setpoint===
Same as above expect this time the setpoint signal is a differential analog voltage output (max +/-10V).

[[file:j5analogcomplete.png|700px]]