Pinout
Connectors Overview
P1 and P2 Power pins
| P1 Supply Power pins | ||||
|---|---|---|---|---|
| Pin | Name | Type | Function | WARNING, POWER TERMINALS! |
| 1 | POW_SUP | Power | Power supply positive (DC bus). |
Power pins can have high voltages > 50 V, always respect clearance and creepage requirements (Typ > 0.25 mm)! Dimension PCB traces and connectors according to the current of the application! |
| 2 | GND_P | Power supply negative (Power Ground). | ||
| Chassis | PE | Protective Earth connected to driver housing and fixing M2.5 threads. | Ensure basic insulation (Min > 0.5 mm) between protective earth and other live circuits. | |
| P2 Motor Power pins | ||||
|---|---|---|---|---|
| Pin | Name | Type | Function | WARNING, POWER TERMINALS! |
| 1 | PH_A | Power | Motor phase A for 3-phase motors, positive for DC motors. |
Power pins can have high voltages > 50 V, always respect clearance and creepage requirements (Typ > 0.25 mm)! Dimension PCB traces and connectors according to the current of the application! |
| 2 | PH_B | Motor phase B for 3-phase motors, negative for DC motors. | ||
| 3 | PH_C | Motor phase C for 3-phase motors (do not connect for DC motors). | ||
| Chassis | PE | Protective Earth connected to driver housing and fixing M2.5 threads. | Ensure basic insulation (Min > 0.5 mm) between protective earth and other live circuits. | |
| Capitan CORE power pins | Recommended mating contact | Description |
|---|---|---|
| Up to 11.2 ARMS rated motors | ||
Ø 1.52 mm, 4 mm pitch, gold plated power pins. |
| Beryllium copper TH pin receptacle. Gold plated. PCB hole 2.549 mm. Maximum current 11.2 A. |
| Mill-Max 9801-0-15-15-23-27-10-0 | ||
| > 11.2 ARMS rated motors | ||
| Direct solder to PCB. TH pad with min. hole Ø 1.63 mm. Ensure PCB tracks are wide enough to withstand the target current. | ||
| Chassis (aluminum body) | ||
| 3 mm board-to-board height spacers. |
| Surface-mount tinned steel round spacer, Ø 2.7 mm internal, Ø 5.1 mm external, 3 mm board-to-board height. |
| Wurth Electronics 9774030951R | ||
| Unattached nickel-plated brass round spacer, Ø 2.6 mm internal, Ø 4.5 mm external, 3 mm board-to-board height. | |
| Ettinger 05.52.033 | ||
P3 Feedback connector
The pinout of the Feedback connector is exactly the same for Capitan CORE (CAP_CORE) and Capitan NET (CAP_NET) although the position of the connector is different.
| P3 Feedback connector | |||||||
|---|---|---|---|---|---|---|---|
# | Signal name | Description | Type | # | Signal name | Description | Type |
1 | GND_A | Analog Ground. If no external analog circuits are used, do not connect this pin at all. If used, do not connect this pin to GND_D directly. Instead, use a ferrite bead or 1 Ω resistor in between. | Power | 2 | GND_A | Analog Ground. If no external analog circuits are used, do not connect this pin at all. If used, do not connect this pin to GND_D directly. Instead, use a ferrite bead or 1 Ω resistor in between. | Power |
3 | DNC | Reserved. Do not connect (leave floating). | - | 4 | AN1_P | Analog input 1. Can be used as a command source or for torque sensing. | 16 bit differential analog input |
5 | DNC | 6 | AN1_N | ||||
7 | DNC | 8 | AN2_P | Analog input 2. Can be used as a command source or for torque sensing. | |||
9 | DNC | 10 | AN2_N | ||||
11 | DNC | 12 | DNC | Reserved. Do not connect (leave floating). | - | ||
13 | MOTOR_TEMP | Motor temperature sensor input. 0 V to 5 V level high impedance input. | 12 bit single-ended analog input | 14 | DNC | ||
15 | GND_D | Digital signal Ground. | Power | 16 | NC | Internally not connected. Recommended to leave them unconnected. | |
17 | HALL_1 | Digital hall 1. | Input, 3.3 V level single-ended. | 18 | NC | ||
19 | HALL_2 | Digital hall 2. | 20 | GND_A | Analog Ground. If no external analog circuits are used, do not connect this pin at all. If used, do not connect this pin to GND_D directly. Instead, use a ferrite bead or 1 Ω resistor in between. | Power | |
21 | HALL_3 | Digital hall 3. | 22 | GND_D | Digital signal Ground. | ||
23 | CLL | Reserved. Must be tied or pulled-down to GND_D. | - | 24 | DIG_ENC_1A | Incremental encoder 1 A. | Input, 3.3 V level single-ended. |
25 | CHL | Reserved. Must be tied or pulled-up to 3.3 V. | 26 | DIG_ENC_1B | Incremental encoder 1 B. | ||
27 | CLL | Reserved. Must be tied or pulled-down to GND_D. | 28 | DIG_ENC_1Z | Incremental encoder 1 Index. | ||
29 | CHL | Reserved. Must be tied or pulled-up to 3.3 V. | 30 | DIG_ENC_2A | Incremental encoder 2 A. | ||
31 | DNC | Reserved. Do not connect (leave floating). | 32 | DIG_ENC_2B | Incremental encoder 2 B. | ||
33 | DNC | 34 | DIG_ENC_2Z | Incremental encoder 2 Index. | |||
35 | DNC | 36 | GND_D | Digital signal Ground. | Power | ||
37 | DNC | 38 | ABSENC1_CLK | Clock output for Absolute Encoder 1. | Output | ||
39 | DNC | 40 | ABSENC1_DATA | Data input for Absolute Encoder 1 (supports SSI or up to 2 BiSS-C encoders connected in daisy chain topology). | Input | ||
41 | DNC | 42 | DNC | Reserved. Do not connect (leave floating). | - | ||
43 | DNC | 44 | GND_D | Digital signal Ground. | Power | ||
45 | DNC | 46 | DNC | Reserved. Do not connect (leave floating). | - | ||
47 | DNC | 48 | DNC | ||||
49 | DNC | 50 | DNC | ||||
51 | DNC | 52 | DNC | ||||
53 | DNC | 54 | DNC | ||||
55 | DNC | 56 | DNC | ||||
57 | DNC | 58 | DNC | ||||
59 | GND_D | Digital signal Ground. | Power | 60 | GND_D | Digital signal Ground. | Power |
Notes and naming conventions:
- All pins are tolerant to 3.3 V unless otherwise noted.
- Unused digital outputs should be left unconnected.
- Unused digital inputs should be connected to GND_D.
- Unused analog inputs should be connected to 1.65V_REF.
- "_P" and "_N" indicates positive and negative terminals of differential signals
- "\" Indicates inverted (active low) signal
- "NC" means Not Connected. Pins marked with NC can be tied to GND or 3.3 V, but the best practice is to leave them unconnected.
- "DNC" means Do Not Connect. Pins marked with DNC must not be tied to any driving voltage, including GND or 3.3 V.
- "CLL" means Connect to Low Level. Pins marked with CLL must be tied or pulled-down to 0 V.
- "CHL" means Connect to High Level. Pins marked with CHL must be tied or pulled-up to 3.3 V.
| Manufacturer | Capitan CORE connector | Required mating connector | Description |
|---|---|---|---|
| Hirose Electric |
|
| 60-pin mezzanine stacking board connector. 0.5 mm pitch. Center strip, gold-plated surface mount contacts. 3 mm stacking height. Hirose DF12 connectors operation and storage temperature, when mounted, is -45 ºC to 125 ºC. |
| DF12NB(3.0)-60DP-0.5V(51) | DF12NB(3.0)-60DS-0.5V(51) |
P4 Capitan CORE Interface connector
Although using the same physical connector as Capitan NET (CAP-NET), position and pinout are different in Capitan CORE (CAP-CORE).
| P4 Capitan CORE Interface connector | |||||||
|---|---|---|---|---|---|---|---|
| # | Signal name | Description | Type | # | Signal name | Description | Type |
| 1 | GND_D | Digital signal Ground. | Power | 2 | GND_D | Digital signal Ground. | Power |
| 3 | 5V_D | 5 V, 300 mA continuous logic supply input. Must be low ripple and ensure ±2% regulation tolerance or less. It is advised to connect all four 5V_D pins. It is recommended to provide at least 500 mA input current if pins 9 or 10 (3.3V_D) are used to drive external circuits. The rise time of the 5 V supply must be between 2 ms and 10 ms to guarantee a proper initialization. | Power input | 4 | 5V_D | 5 V, 300 mA continuous logic supply input. Must be low ripple and ensure ±2% regulation tolerance or less. It is recommended to connect all four 5V_D pins. It is advised to provide at least 500 mA input current if pins 9 or 10 (3.3V_D) are used to drive external circuits. The rise time of the 5 V supply must be between 2 ms and 10 ms to guarantee a proper initialization. | Power input |
| 5 | 5V_D | 6 | 5V_D | ||||
| 7 | GND_D | Digital signal Ground. | Power | 8 | GND_D | Digital signal Ground. | Power |
| 9 | 3.3V_D | 3.3 V, 250 mA max. output to supply peripherals. Excessive current demand on this pin could cause failure or even permanent damage to the Capitan CORE. | Power output | 10 | 3.3V_D | 3.3 V, 250 mA max. output to supply peripherals. Excessive current demand on this pin could cause failure or even permanent damage to the Capitan CORE. | Power output |
| 11 | GND_D | Digital signal Ground. | Power | 12 | GND_D | Digital signal Ground. | Power |
| 13 | GND_D | 14 | MCB_SPI_MISO | Motion Control Bus, Master input Slave output | Output | ||
| 15 | GND_D | 16 | MCB_SPI_MOSI | Motion Control Bus, Master output Slave input | Input | ||
| 17 | GND_D | 18 | \MCB_SPI_CS | Motion Control Bus, Chip Select input | |||
| 19 | GND_D | 20 | MCB_SPI_CLK | Motion Control Bus, Clock input | |||
| 21 | GND_D | 22 | MCB_SYNC0 | Motion Control Bus, synchronization signal 0 | |||
| 23 | GND_D | 24 | MCB_SYNC1 | Motion Control Bus, synchronization signal 1. It is strongly suggested to pull-up this signal to 3.3V with a 10 kΩ resistor. | Output | ||
| 25 | GND_D | 26 | MCB_IRQ | Motion Control Bus, interrupt request output. Add a pull-down resistor 10 kΩ to this pin. | |||
| 27 | GND_D | 28 | DNC | Reserved. Do not connect (leave floating). | - | ||
| 29 | NC | Internally not connected. Recommended to leave them unconnected. | - | 30 | GND_D | Digital signal Ground. | Power |
| 31 | NC | 32 | GND_D | ||||
| 33 | \STO1 | Safe Torque Off input 1 (non-isolated). Both \STO1 and \STO2 must be high-level (3.3 V and 5 V level compatible) to allow operation of the motor. Holding different logic states (STO1 ≠ STO2) for more than 1s will cause a latching fault. | Input | 34 | \STO2 | Safe Torque Off input 2 (non-isolated). Both \STO1 and \STO2 must be high-level (3.3 V and 5 V level compatible) to allow operation of the motor. Holding different logic states (STO1 ≠ STO2) for more than 1s will cause a latching fault. | Input |
| 35 | DNC | Reserved. Do not connect (leave floating). | - | 36 | DNC | Reserved. Do not connect (leave floating). | - |
| 37 | FAULT_SIGNAL | Fault state signaling output. Can directly drive a (typically) red LED anode at 3.3 V up to 3 mA. | Output | 38 | \HW_RESET | Capitan CORE reset input. Keeps the motion controller disabled with low power consumption. A minimum low-level pulse of 100 µs is needed for resetting Capitan CORE. 2 kΩ pull-up to 3.3 V is internally included. | Input |
| 39 | GND_D | Digital signal Ground. | Power | 40 | DNC | Reserved. Do not connect (leave floating). | - |
| 41 | \EXT_FAULT | External fault input. Could be configured to force the Capitan CORE state-machine to the Fault state (motor will be stopped) when the pin is driven to 0 V. Includes an internal weak pull-up, although external pull-up to 3.3 V is advised. | Input | 42 | PWM_BRAKE | PWM output for driving a mechanical brake. Configurable up to 40 kHz. A high level indicates the motor is free to move. Add a 10 kΩ ~ 47 kΩ pull-down resistor to this pin to ensure the brake is always in a safe state during boot-up or reset situations when this pin might be in high impedance. | Output |
| 43 | GPO4 | Digital Output 4. | Output | 44 | DNC | Reserved. Do not connect (leave floating). | - |
| 45 | DNC | Reserved. Do not connect (leave floating). | - | 46 | DNC | ||
| 47 | GPI1 | Digital Input 1. | Input | 48 | DNC | ||
| 49 | GPI2 | Digital Input 2. | 50 | ABSENC2_CLK | Clock output for Absolute Encoder 2. | Output | |
| 51 | ABSENC2_DATA | Data input for Absolute Encoder 2 (supports SSI only) | 52 | DNC | Reserved. Do not connect (leave floating). | - | |
| 53 | GPI3 | Digital Input 3. | 54 | DNC | |||
| 55 | GPO1 | Digital Output 1. | Output | 56 | GPO2 | Digital Output 2. | Output |
| 57 | GPO3 | Digital Output 3. | 58 | GPI4 | Digital Input 4. | Input | |
| 59 | GND_D | Digital signal Ground. | Power | 60 | GND_D | Digital signal Ground. | Power |
| 61 | DNC | Reserved. Do not connect (leave floating). | - | 62 | DNC | Reserved. Do not connect (leave floating). | - |
| 63 | DNC | 64 | DNC | ||||
| 65 | DNC | 66 | DNC | ||||
| 67 | GND_D | Digital signal Ground. | Power | 68 | GND_D | Digital signal Ground. | Power |
| 69 | NC | Internally not connected. Recommended to leave them unconnected. | - | 70 | NC | Internally not connected. Recommended to leave them unconnected. | - |
| 71 | NC | 72 | NC | ||||
| 73 | NC | 74 | NC | ||||
| 75 | 1.65V_REF | 1.65 V voltage reference output with sink/source capability up to ±10 mA. Excessive current demand or noise coupled to this pin can cause a loss of performance or even malfunction of Capitan CORE: route by following the best layout practices. | Power output | 76 | NC | ||
| 77 | 3.3V_REF | 3.3 V voltage reference output with sink/source capability up to ±10 mA. Excessive current demand or noise coupled to this pin can cause a loss of performance or even malfunction of Capitan CORE: route by following the best layout practices. | 78 | DNC | Reserved. Do not connect (leave floating). | ||
| 79 | GND_A | Analog Ground. If no external analog circuits are used, do not connect this pin at all. If used, do not connect this pin to GND_D directly. Instead, use a ferrite bead or 1 Ω resistor in between. | Power | 80 | GND_A | Analog Ground. If no external analog circuits are used, do not connect this pin at all. If used, do not connect this pin to GND_D directly. Instead, use a ferrite bead or 1 Ω resistor in between. | Power |
Notes and naming conventions:
- All pins are tolerant to 3.3 V unless otherwise noted.
- Unused digital outputs should be left unconnected.
- Unused digital inputs should be connected to GND_D.
- Unused analog inputs should be connected to 1.65V_REF.
- "_P" and "_N" indicates positive and negative terminals of differential signals
- "\" Indicates inverted (active low) signal
- "NC" means Not Connected. Pins marked with NC can be tied to GND or 3.3 V, but the best practice is to leave them unconnected.
- "DNC" means Do Not Connect. Pins marked with DNC must not be tied to any driving voltage, including GND or 3.3 V.
Motion Control Bus
Capitan CORE can be controlled as a slave by means of its proprietary Motion Control Bus (MCB). Check how in the Summit Series Reference Manual.
MCB Layout is critical
Note, the high-speed MCB signals (MCB_SPI_MOSI, MCB_SPI_MISO, MCB_SPI_CLK) must be routed with care. Not following the best high speed layout practices will result in communication problems and loss of data. Please:
- Do not ever route these signals close to the motor phases or switching nodes of DC/DCs. Keep a safe > 15 mm distance to switching noise.
- Ensure they have a good GND return on all its length on the PCB. Route them as strip lines, if possible microstrip for longer distances is also recommended.
- Keep line impedances between 60 Ω and 150 Ω.
- Avoid T stubs and acute angles.
- Minimize crosstalk to other signals by reducing parallel coupled length.
- Consider adding 0 Ω ~ 47 Ω series termination resistors at the end of the fast lines as a provision to minimize reflections in case communication issues arise.
| Manufacturer | Capitan CORE connector | Required mating connector | Description |
|---|---|---|---|
| Hirose Electric |
|
| 80-pin mezzanine stacking board connector. 0.5 mm pitch. Center strip, gold-plated surface mount contacts. 3 mm stacking height. Hirose DF12 connectors operation and storage temperature, when mounted, is -45ºC to 125ºC. |
| DF12NB(3.0)-80DP-0.5V(51) | DF12NB(3.0)-80DS-0.5V(51) |
