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Connectors Guide

Connector Overview

Supply

Drive Supply Protection Requirement

On power up, it is essential that the input voltage to the drive is below 4V if executed soon after a power down. 

Note that this is a requirement for both single and dual power supply. For dual power supply, both the main and the logic power supply must be below 4V before a new power up is executed. Please note that the time required for the drop to 4V might be different for the main and the logic supply input. 

The time required for the voltage to drop below 4V is application specific and can be estimated experimentally with the use of an oscilloscope with the probe placed at the input to the drive. 

Battery Powered Applications

Many battery powered applications have a switch or a relay integrated between the battery and the drive. This scenario might cause the voltage to bounce on power on. The voltage can drop to values that can damage the drive (please refer to the minimum input voltage of the drive within the Product Specification manual of your drive). 

In such cases, we advise adding a capacitor between the switch/relay and the drive. This will smoothen the voltage input on power on. 

The capacitance is application specific and can be estimated experimentally. It is important for the capacitance to be dimensioned in a way that the voltage does not drop below the minimum input voltage of the drive + 0.5V.


P1 connector

2.6 mm diameter gold plated solder pads or flying leads option. Pad pitch is 5.08 mm. 

Pin

Signal

Function

Warning! Risk of electric shock!

1

POW_SUP

Power supply positive

2

GND_P

Power supply return

Notes

Warning, power supply and motor terminals can have dangerous voltages in excess to 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 2.5 mm2 ~ 8.4 mm2 , AWG 13 ~ AWG 8. High-temperature materials are necessary (≥ 180 ºC). See Wiring and Connections - Power Supply and Motor Power for more detailed information about the required wire section. Adapt the cable diameter to the worst-case current needs.

It is recommended to use flexible silicone or Teflon cables with high-temperature ratings ≥ 180 ºC. The diameter of the cable jacket (insulator) should be less than 5.08 mm to prevent collision between wires. 

The cables must always be mechanically secured after soldering.

When using power supply only (no logic supply) it is recommended to connect pins 27 (+LOG_SUP) and 29 (GND_D) of I/O connector J2 together.

Motor 

P2 connector

2.6 mm diameter gold plated solder pads or flying leads option. Pad pitch is 5.08 mm.

Pin

Signal

Function

Warning! Risk of electric shock!

1

PH_A

Motor phase A

2

PH_B

Motor phase B

3

PH_C

Motor phase C

4

PE

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

Notes

Warning, power supply and motor terminals can have dangerous voltages in excess to 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 2.5 mm2 ~ 8.4 mm2 , AWG 13 ~ AWG 8. High-temperature materials are necessary (≥ 180 ºC). See Wiring and Connections - Power Supply and Motor Power for more detailed information about the required wire section.

The cables must be mechanically secured after soldering. 

For long cables, it is essential to use a shielding connected to protective earth at both ends of the cable.



Feedback Connector

J1 connector

20 pins 2 row Pico-Clasp 1 mm pitch header. Molex 501190-2027

Pin

Signal

Function

1

+5V_OUT

5 V 200 mA total max. Pins 1, 9, 14 are internally connected.

2

GND_D

Digital signal ground

3

ENC_A+/DATA2+

Differential digital incremental encoder: A+ input

Single-ended digital incremental encoder: A input

Absolute encoder 2: Data +

4

ENC_B+

Differential digital incremental encoder: B+ input

Single-ended digital incremental encoder: B input

5

ENC_A-/DATA2-

Differential digital incremental encoder: A- input

Single-ended digital incremental encoder: Leave unconnected

Absolute encoder 2: Data -

6

ENC_B-

Differential digital incremental encoder: B- input

Single-ended digital incremental encoder: Leave unconnected

7

ENC_Z+/CLK2+

Differential digital incremental encoder: Index+ input

Single-ended digital incremental encoder: Index input

Absolute encoder 2: Clock +

8

ENC_Z-/CLK2-

Differential digital incremental encoder: Index- input

Single-ended digital incremental encoder: Leave unconnected

Absolute encoder 2: Clock -

9

+5V_OUT

5 V 200 mA total max. Pins 1, 9, 14 are internally connected.

The 5V supply could be deactivated by FW to reduce power consumption.

10

GND_D

Digital signal ground

11

HALL_1

Digital hall sensor input 1

12

HALL_2

Digital hall sensor input 2

13

HALL_3

Digital hall sensor input 3

14

+5V_OUT

5 V 200 mA total max. Pins 1, 9, 14 are internally connected.

The 5V supply could be deactivated by FW to reduce power consumption.

15

GND_D

Digital signal ground

16

DATA1+

Absolute encoder 1 DATA positive signal input

17

CLK1+

Absolute encoder 1 CLK positive signal output

18

DATA1-

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 DATA+.

19

CLK1-

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 CLK+.

20

PE

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

For systems where the drive is not integrated inside the motor, the PE pin should typically be connected to the feedback cable shield to protect it against electromagnetic interferences. To do so it is recommended to use a cable shield terminator like TE S02-16-R.


Input / Outputs Connector

J2 connector

30 pins 2 row Pico-Clasp 1 mm pitch header. Molex 501190-3017

Pin

Signal

Function

1

STO_1

Safe Torque Off input 1 (positive, active from 5 V to 24 V, ISOLATED)

2

PE

Protective earth connection, internally connected to standoffs and drive cold plate. Can be used to connect cable shield. To do so it is recommended to use a cable shield terminator like TE S02-16-R.

3

STO_RET

Safe Torque Off common (optocoupler LEDs cathode, ISOLATED).

4

+5V_OUT

+5 V output.

The 5V supply could be deactivated by FW to reduce power consumption.

5

STO_2

Safe Torque Off input 2 (positive, active from 5 V to 24 V, ISOLATED)

6

GND_D

Digital signal ground

7

NC

Intentionally not connected.

8

+5V_OUT

+5 V output.

9

CAN_H

CAN bus line dominant high

10

RESERVED

Reserved

11

CAN_L

CAN bus line dominant low

12

BOOT

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

13

GND_D

Digital signal ground

14

IN1

Digital input 1 (5V levels)

15

IN2

Digital input 2 (5V levels)

16

IN3

Digital input 3 (5V levels)

17

IN4

Digital input 4 (5V levels)

18

OUT1

Digital output 1 (5V levels)

19

OUT2

Digital output 2 (5V levels)

20

OUT3

Digital output 3 (5V levels)

21

OUT4

Digital output 4 (5V levels)

22

AN1+

Analog input 1 positive (±10V range)

23

BRAKE_OUT

Brake output (open-drain transistor with PWM capability). A freewheeling diode anode is connected to this pin.

24

AN1-

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

25

BRAKE_DIODE_K

The cathode of the freewheeling diode for the brake should be connected to the power supply of the brake. The anode of the diode is connected to pin 23 (BRAKE_OUT).

26

GND_D

Digital signal ground

27

+LOG_SUP

Logic supply positive.

Providing the logic supply is optional as the drive is automatically powered from the DC bus on its full operating voltage range. Logic supply can be used to keep communications alive while the power bus is off.

Powering the logic from this input at 12 V or 24 V reduces overall standby losses and drive self-heating since the main DC/DC converter of the drive has better efficiency at lower voltages.

28

MOTOR_TEMP

Motor temperature sensor input. A 1.65 kΩ pull-up resistor to 5 V is included on the drive.

29

GND_D

Digital signal ground, logic supply negative


30

MOTOR_TEMP_RET

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

EtherCAT Connectors


J3 & J4 connectors

5 pins 1 row Pico-Clasp 1 mm pitch header. Molex 501940-0507

Pin

Signal

Function

Suggested pinout M12-4 D-coded

Suggested pinout RJ45

1

TX_D+

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

1

1

2

TX_D-

Transmit Data- line. Colour typ.: Orange

3

2

3

RX_D+

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

2

3

4

RX_D-

Receive Data- line. Colour typ.: Green

4

6

5

GND_ETH/PE

Connection for the EtherCAT cable shield. This pin is directly connected to the chassis of the drive - PE. To do so it is recommended to use a cable shield termination like TE S02-16-R.

Housing / Shield

Shroud / Shield

Note

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 TX+ of another.

Note that port 0 should be used as EtherCAT IN and port 1 as EtherCAT OUT.


Mating Connectors

J1 mating connector

Description

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

Image

(Reference only. Please verify with supplier's datasheet)

Part number

Molex 501189-2010


J2 mating connector

Description

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

Image

(Reference only. Please verify with supplier's datasheet)

Part number

Molex 501189-3010


J3 & J4 mating connectors with latch holder

Description

Molex Pico-Clasp™ 1.0 mm pitch 5 positions single row receptacle with Latch Holder.

Provides stronger locking performance and is easy to extract. Use this connector in case the wiring ensures no strong pull will be performed to the cables, this could cause damage to the PCB connector.

Image

(Reference only. Please verify with supplier's datasheet)

Part number

Molex 501939-0500

J3 & J4 mating connectors with locking ramp

Description

Molex Pico-Clasp™ 1.0 mm pitch 5 positions single row receptacle with locking ramp.

Provides less strong locking compared to the latch holder but will avoid breaking the PCB connector in case of strong pull.

Image

(Reference only. Please verify with supplier's datasheet)

Part number

Molex 501330-0500

Common mating terminals and cables for all signal connectors

All signal connectors are of Molex Pico-Clasp™ family. All share the same crimp terminals and jumper wires. Given the small size of the connectors, crimping must be done with appropriate tools and application guides provided by Molex. Otherwise, it is strongly recommended to buy pre-crimped jumper wires and connect to your system using split (or butt) terminals.  Spiral wraps are recommended to order and protect the thin wires and make tidy, elegant wiring. 

J1, J2, J3, J4 Crimp terminals

Description

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

Image

(Reference only. Please verify with supplier's datasheet)

Part number

Molex 5011933000

Crimper tool

Description

Hand crimper tool 28-32 AWG

Image

(Reference only. Please verify with supplier's datasheet)

Part number

Molex 63819-1500

J1, J2, J3, J4 Crimped wires 150 mm

Description

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

Image

(Reference only. Please verify with supplier's datasheet)

Part number

Molex 079758-1016

J1, J2, J3, J4 Crimped wires 300 mm

Description

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

Image

(Reference only. Please verify with supplier's datasheet)

Part number

Molex 079758-1017

Wiring accessory: Spiral wire wrap

Description

Nylon spiral wrap abrasion resistant. Internal diameter:

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

Image

(Reference only. Please verify with supplier's datasheet)

Part number

Alpha Wire SW20 NA005 | SW21 NA008

Wiring accessory: wire to wire solder sleeve

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

(Reference only. Please verify with supplier's datasheet)

TE

B-155-9001



Drive Supply Protection Requirement

On power up, it is essential that the input voltage to the drive is below 4V if executed soon after a power down. 

Note that this is a requirement for both single and dual power supply. For dual power supply, both the main and the logic power supply must be below 4V before a new power up is executed. Please note that the time required for the drop to 4V might be different for the main and the logic supply input. 

The time required for the voltage to drop below 4V is application specific and can be estimated experimentally with the use of an oscilloscope with the probe placed at the input to the drive. 

Battery Powered Applications

Many battery powered applications have a switch or a relay integrated between the battery and the drive. This scenario might cause the voltage to bounce on power on. The voltage can drop to values that can damage the drive (please refer to the minimum input voltage of the drive within the Product Specification manual of your drive). 

In such cases, we advise adding a capacitor between the switch/relay and the drive. This will smoothen the voltage input on power on. 

The capacitance is application specific and can be estimated experimentally. It is important for the capacitance to be dimensioned in a way that the voltage does not drop below the minimum input voltage of the drive + 0.5V.

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