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 |