Connectors & Pinout
Connectors Overview
The following diagram shows the location and purpose of each connector:
P9 & P19: Supply connectors
Pin | Signal | Description |
1 | +DC_BUS | Power supply positive terminal |
2 | GND_P | Power supply negative terminal and reference voltage for the power circuits |
P10 & P20: Motor conectors
Pin | Signal | Description |
1 | PE | Protective Earth (internally connected to the chassis by means of the standoffs) |
2 | PHASE_A | Power terminal for motor phase A or U |
3 | PHASE_B | Power terminal for motor phase B or V |
4 | PHASE_C | Power terminal for motor phase C or W |
P25 & P30: EtherCAT connectors
Pin | Signal | Description |
1 | ETH_TX_P | EtherCAT IN/OUT positive terminal of the Transmit differential pair |
2 | ETH_TX_N | EtherCAT IN/OUT negative terminal of the Transmit differential pair |
3 | ETH_RX_P | EtherCAT IN/OUT positive terminal of the Receive differential pair |
4 | ETH_RX_N | EtherCAT IN/OUT negative terminal of the Receive differential pair |
5 | PE_ECAT | Terminal for the floating chassis of the EtherCAT cable (1 nF decoupling) |
P24 & P29: STO connectors
Pin | Signal | Description |
1 | STO1 | Safe Torque OFF redundant channel 1 (optoisolated) |
2 | STO_RET | Common return of the STO optoisolators. |
3 | STO2 | Safe Torque OFF redundant channel 2 (optoisolated) |
P21, P22, P26 & P27: Absolute encoder connectors
Pin | Signal | Description |
1 | 5V_OUT | +5 V supply for the feedback sensors |
2 | GND_D | Logic circuits voltage reference |
3 | MA/CLK_P | Positive terminal of the Absolute Encoder 1/2 Clock transmit differential pair |
4 | MA/CLK_N | Negative terminal of the Absolute Encoder 1/2 Clock transmit differential pair |
5 | SLO/DATA_P | Positive terminal of the Absolute Encoder 1/2 DATA receive differential pair |
6 | SLO/DATA_N | Negative terminal of the Absolute Encoder 1/2 DATA receive differential pair |
P23 & P28: Brake and Motor temperature connectors
Pin | Signal | Description |
1 | BRAKE_- | Electromechanical brake switching terminal (sinks to GND_P) |
2 | BRAKE_+ | Electromechanical brake supply (connected to DC Bus by default) |
3 | MOTOR_TEMP_IN | Sensing terminal of the motor temperature sensor |
4 | MOTOR_TEMP_RET | Return of the motor temperature sensor |