Connectors & Pinout

2-pin Molex Pico-Lock PCB gold-plated right-angle header. Molex 2053380002.

1

+V_BUS

Power supply positive

2

GND_P

Power supply return.

Internally connected to GND_D. 

Warning, power supply, and motor terminals can have dangerous voltages above 50 V. Never touch them directly while in operation. The end installation must ensure that these terminals are not accessible. 

The recommended section wire is 0.5 mm² to 0.34 mm², or 20 AWG to 22 AWG. Use high-temperature cables with a working temperature ≥ 105ºC. 

See more details in the Power Supply and Motor Power section of the Denali XCR Product Manual.

20-pin, 2-row Pico-Clasp 1 mm pitch gold-plated right-angle header. Molex 5015712007.

Pin

1

+5V_I/O

+5 V 60 mA output, can be used for peripherals such as switches, I/Os. 

2

GND_D

Digital signal ground.

3

IN1

Digital input 1: 3.3 V logic levels, tolerant to 6 V continuous, can be used with 5 V logic.

4

AN2-

Analog input 2 negative: (±10 V range). Connect to GND if a single-ended analog input is used.

5

IN2

Digital input 2: 3.3 V logic levels, tolerant to 6 V continuous, can be used with 5 V logic.

6

AN2+

Analog input 2 positive: (±10 V range). 16-bit resolution, 0.34425 mV/ADC count.  +10 V →  61817 ADC counts. 0 V →  32768. -10 V → 3719 ADC counts. 

7

OUT1

Digital output 1: (3.3V levels).

8

DNC

Reserved. Do not connect (leave floating).

9

OUT2

Digital output 1: (3.3V levels).

10

AN1-

Analog input 1 negative: (±10 V range). Connect to GND if a single-ended analog input is used.

11

AN_OUT

Analog output 3.3V levels.

12

AN1+

Analog input 1 positive: (±10 V range). 16-bit resolution, 0.34425 mV/ADC count.  +10 V →  61817 ADC counts. 0 V →  32768. -10 V → 3719 ADC counts. 

13

BOOT

This pin can be pulled down to GND_D to force enter boot mode during power-up in FTP mode. Typically not necessary. If not used, always leave it unconnected.

14

NC

Not connected.

15

GND_D

Digital signal ground.

16

GND_D

Digital signal ground.

17

CAN_L

CAN bus line dominant low. Pins 17 and 18 are internally connected and can be useful for daisy-chain wiring. 

18

CAN_L

19

CAN_H

CAN bus line dominant high. Pins 19 and 20 are internally connected and can be useful for daisy-chain wiring. 

20

CAN_H

8-pin Pico-Clasp 1 mm pitch gold-plated right-angle header. Molex 2035580807.

1

\STO_A

Safe Input A for STO (positive, active from 15 V to 30 V, ISOLATED). Internal bypass from P3 to P4.

-

-

2

STO_RETURN

Safe Inputs Return common (optocoupler LEDs cathode, ISOLATED). Internal bypass from P3 to P4.

-

-

3

\STO_B

Safe Input B for STO and SCB (positive, active from 15 V to 30 V, ISOLATED). Internal bypass from P3 to P4.

-

-

4

TX_D+

Transmit Data+ line. Color typ.: White - Orange

1

1

5

TX_D-

Transmit Data- line. Color typ.: Orange

3

2

6

RX_D+

Receive Data+ line. Colour typ.: White - Green

2

3

7

RX_D-

Receive Data- line. Colour typ.: Green

4

6

8

GND_ETH/PE

Connection for the EtherCAT cable shield. This pin is directly connected to the chassis of the drive - PE. It is recommended to use a cable shield termination with the same properties as TE S02-16-R.

Housing / Shield

Shroud / Shield

Both network connectors have the same pinout, thanks to auto-negotiation there is no need to make crossed cables. I.e. TX+ of one device can be connected to the TX+ of another. Note that port 0 should be used as EtherCAT IN and port 1 as EtherCAT OUT.

The safety signals are bypassed between connectors P3 and P4 to facilitate the daisy chain connection of communications and safety signals.  Find more information in the Communications section of the Denali XCR Product Manual.

30-pin, 2-row Pico-Clasp 1 mm pitch gold-plated right-angle header. Molex 5015713007.

Pin

1

GND_D

Digital ground.

2

MOTOR_TEMP_RET

Motor temperature sensor return (referred to as GND_D). Do not use this pin as GND for any other purpose than the negative for motor temperature sensing.

3

ENC_Z-

Differential digital incremental encoder index- input. Leave unconnected if using single-ended encoders. 

4

MOTOR_TEMP_IN

Motor temperature sensor input. A 1.65 kΩ pull-up resistor to 3.3 V is included on the drive.

5

ENC_Z+

Differential digital incremental encoder index+ input. 

6

GND_D

Digital ground.

7

ENC_B-

Differential digital incremental encoder B- input. Leave unconnected if using single-ended encoders. 

8

HALL_3

Digital hall sensor 3 input, 1 kΩ pullup to 3.3 V included in the drive. 

9

ENC_B+

Differential digital incremental encoder B+ input.

10

HALL_2

Digital hall sensor 2 input, 1 kΩ pullup to 3.3 V included in the drive. 

11

ENC_A-

Differential digital incremental encoder A- input. Leave unconnected if using single-ended encoders. 

12

HALL_1

Digital hall sensor 1 input, 1 kΩ pullup to 3.3 V included in the drive. 

13

ENC_A+

Differential digital incremental encoder A+ input.

14, 15, 16

NC

Not Connected.

17, 18, 19, 20

+5V_FB

5V 400 mA power supply output for feedback.

21

ABS1_CLK-

Absolute encoder 1 CLK negative signal output. For single-ended absolute encoders with TTL or CMOS levels leave this pin floating and connect the clock to ABS1_CLK+.

22

ABS2_CLK-

Absolute encoder 2 CLK negative signal output. For single-ended absolute encoders with TTL or CMOS levels leave this pin floating and connect the clock to ABS2_CLK+.

23

ABS1_CLK+

Absolute encoder 1 CLK positive signal output.

24

ABS2_CLK+

Absolute encoder 2 CLK positive signal output.

25

ABS1_DATA-

Absolute encoder 1 DATA negative signal input. For single-ended absolute encoders with TTL or CMOS levels leave this pin floating and connect the signal to ABS1_DATA+.

26

ABS2_DATA-

Absolute encoder 2 DATA negative signal input. For single-ended absolute encoders with TTL or CMOS levels leave this pin floating and connect the signal to ABS2_DATA+.

27

ABS1_DATA+

Absolute encoder 1 DATA positive signal input.

28

ABS2_DATA+

Absolute encoder 2 DATA positive signal input.

29, 30

GND_D

Digital ground.

4-pin Molex Pico-Lock 2.0 PCB gold-plated right-angle header. Molex 2053380004.

1

PH_C

Motor phase C

2

PH_B

Motor phase B

3

PH_A

Motor phase A

4

PE

Protective earth connection, internally connected to standoffs and drive housing.

Warning, power supply, and motor terminals can have dangerous voltages above 50 V and cause electric shock. Never touch them directly while in operation. The end installation must ensure that these terminals are not accessible. 

Recommended section wire is s 0.5 mm² to 0.34 mm², or 20 AWG to 22 AWG. High-temperature materials are necessary (≥ 100 ºC).

6-pin Pico-Clasp 1 mm pitch gold-plated right-angle header. Molex 2035580607.

1

+V_BUS

DC bus voltage of the drive. Connect to pin 2 BRAKE_SUPPLY (jumper) to power the brake from the power supply

2

BRAKE_SUPPLY

Brake power supply voltage. Connect to pin 1 if the brake power supply voltage is the same as the motor. Connect to the positive of an external power supply if the brake requires a different voltage. 

3, 4

GND_P

Power supply negative. Connect to the negative of an external brake power supply if the brake requires a voltage other than the motor power. 

5

BRAKE_OUT_P

Positive Brake output.

6

BRAKE_OUT_N

Negative Brake open-drain output. PWM-capable to modulate the excitation applied to the brake.

Warning, brake terminals can have dangerous voltages above 50 V and cause electric shock. Never touch them directly while in operation.

P1 mating connector

Description

Molex Pico-Lock 2.0 mm pitch 2 positions.

Image

Part number

Molex 2053410202

P2 mating connector

Description

Molex Pico-Clasp™ 1.0 mm pitch 20 positions dual row receptacle with locking ramp

Image

Part number

Molex 5011892010

P3 and P4 mating connectors

Description

Molex Pico-Clasp™ 1.0 mm pitch 8 positions single row receptacle with locking ramp

Image

Part number

Molex 5013300800

P5 mating connector

Description

Molex Pico-Clasp™ 1.0 mm pitch 30 positions dual row receptacle with locking ramp

Image

Part number

Molex 5011893010

P6 mating connector

Description

Molex Pico-Lock 2.0 mm pitch 4 positions.

Image

Part number

Molex 2053410204

P7 mating connectors

Description

Molex Pico-Clasp™ 1.0 mm pitch 6 positions single row receptacle with locking ramp

Image

Part number

Molex 5013300600

P2, P3, P4, P5, P7 Crimp terminals

Description

Molex Pico-Clasp™ crimp socket 28 AWG ~ 32 AWG selective gold plated

Image

Part number

Molex 5011933000

Description

Hand crimper tool 28-32 AWG

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Part number

Molex 638191500

Description

Molex Pico-Clasp™ 28 AWG black jumper lead socket to socket 150 mm length. Gold plated.

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Part number

Molex 0797581016

Description

Molex Pico-Clasp™ 28 AWG black jumper lead socket to socket 300mm length. Gold plated.

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Part number

Molex 0797581017

Description

Nylon spiral wrap abrasion resistant. Internal diameter:

2.41 mm, 3.18 mm expanded | 5.08 mm, 6.35 mm expanded

Image

Part number

Alpha Wire SW20 NA005 | SW21 NA008

Description

Wire to Wire Solder Sleeve Heat shrinkable. Can be used to reliably connect pre-crimped wires to a specific sensor, feedback, or other thin wires.

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TE

B-155-9001

P1 and P6 Crimp terminals

Description

Molex Pico-Lock 2.0 crimp socket 20 AWG ~ 22 AWG selective gold plated

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Part number

Molex 2053425028

Description

Hand crimper tool Pico-Lock 2.0 20-22 AWG

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Part number

Molex 2133091000

Description

Nylon spiral wrap abrasion resistant. Internal diameter:

2.41 mm, 3.18 mm expanded | 5.08 mm, 6.35 mm expanded

Image

Part number

Alpha Wire SW20 NA005 | SW21 NA008

Description

Wire to Wire Solder Sleeve Heat shrinkable. Can be used to reliably connect pre-crimped wires to a specific sensor, feedback, or other thin wires.

Image

TE

B-155-9001