Pinout

Gold plated 2.54 mm pitch pins.

1

GND

Power

Power supply negative (Power Ground). Internally connected to GND_D.

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

+VBUS

Power supply positive (DC bus).

3

PHASE_A

Motor phase A for 3-phase motors, positive for DC / Voice coil motors.

4

PHASE_B

Motor phase B for 3-phase motors, negative for DC / Voice coil  motors.

5

PHASE_C

Motor phase C for 3-phase motors (do not connect for DC motors).

It is recommended to solder the power pins to reduce power losses. It also improves thermal performance by providing a preferential path for heat dissipation from the power stage to the environment.

However, plugging and unplugging can be achieved by using a mating connector: MillMax 3305-0-15-15-47-27-10-0 socket. 

GND_D

Digital signal Ground.

Power

2

GND_D

Digital signal Ground.

Power

PHY1_TX_P

Port 1 Ethernet physical layer differential pairs. 

50 Ω pull-up termination resistors are included on the drive. Magnetics with the center tap connected to MAGNETICS_CT (pin 54) must be added externally.

If this port is not used leave these pins unconnected. 

I/O

4

3.3V_REF

3.3 V ± 0.2% 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: route by following the best layout practices.

Power output

PHY1_TX_N

6

AN1_OUT

0.3 V to 3 V Analog output 1. Weak output, requires buffering. 

Analog output

PHY1_RX_P

8

AN1_P

Analog input 1. Can be used as brake current sensing or for generic analog input.

16 bit differential analog input

PHY1_RX_N

10

AN1_N

\ETH1_LED_LINK

Ethernet Port 1 Link signaling. Can directly drive a (typically) green LED cathode by sinking up to 3 mA while the anode is connected to 3.3 V.

Output

12

AN2_P

Analog input 2. Can be used as a brake current sensing or for generic analog input.

16 bit differential analog input

\SAFE_INPUT_1A

Channel A of the redundant Safe Input 1. Active with low-level or open-circuit. Up to 7V voltage tolerant.

Holding different logic states (\SAFE_INPUT_1A ≠ \SAFE_INPUT_1B) for more than 3.4s will cause a latching fault.

Input

14

AN2_N

GND_D

Digital signal Ground.

Power

16

MOTOR_TEMP

Motor temperature sensor dedicated analog input. 0 to 3.3 V level high impedance input. 

The connection of the sensor should be done between GND_D and MOTOR_TEMP with a pull-up resistor (recommended value 1.65 kΩ) to 3.3V

12 bit single-ended analog input

\SAFE_INPUT_1B

Channel B of the redundant Safe Input 1. Active with low-level or open-circuit. Up to 7V voltage tolerant.

Holding different logic states (\SAFE_INPUT_1A ≠ \SAFE_INPUT_1B) for more than 3.4s will cause a latching fault.

Input

18

NC

Not connected.

DNC

Reserved. Do not connect (leave floating).

-

20

NC

Not connected.

DNC

Reserved. Do not connect (leave floating).

-

22

GPI1

Digital Input 1.

Input

3.3V_D

3.3 V power supply input. Must be connected together to the pin 56.

A well-regulated ±3%, low ripple, 1 A peak, 300 mA continuous source must be used (300 mA is total consumption shared between pin 23 and 56).

3.3 V power supply should have a rise time between 30 µs and 150 µs, and should be powered up before or together with 5V.

Power input

24

GPI2

Digital Input 2.

Input

NC

Not Connected.

-

26

GPO1

Digital Output 1.

Output

V_FBK_SENSE

Analog input for sensing the Feedback Supply.

See Safety Manual / Integration Requirementss.

Input

28

GPO2

Digital Output 2.

Output

3.3V_SAFE

3.3 V safe power supply output. This net is exclusive to power safety related circuits. Limited to 150 mA consumption.

See Safety Manual / Integration Requirementss.

Power output

30

PWM_BRAKE

PWM output for driving a mechanical brake. Configurable up to 40 kHz. A high level indicates the motor is free to move.

Output

GND_D

Digital signal Ground.

Power

32

ABSENC1_DATA

Data input for Absolute Encoder 1 (supports SSI or up to 2 BiSS-C encoders connected in daisy chain topology).

Input

NC

Not Connected.

-

34

ABSENC1_CLK

Clock output for Absolute Encoder 1.

Output

\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 unconnected or pulled up with a 10 kΩ resistor. Never leave this pin permanently pulled down, as this would block the Denali boot mode. 

I/O

36

GND_D

Digital signal Ground.

Power

NC

Not connected.

38

ABSENC2_CLK

Clock output for Absolute Encoder 2.

Output

NC

Not Connected.

-

40

ABSENC2_DATA

Data input for Absolute Encoder 2 (supports SSI or BiSS-C encoders).

Input

NC

Not connected.

42

DIG_ENC_1A

Incremental encoder 1 A.

Input, 3.3 V level single-ended.

FAULT_SIGNAL

Fault state signaling output. Can directly drive a (typically) red LED anode at 3.3 V up to 3 mA.

Output

44

DIG_ENC_1B

Incremental encoder 1 B.

ECAT_CAN_RUN

State-machine RUN green LED output for EtherCAT and CANopen. Can directly drive a green LED anode at 3.3 V up to 3 mA.

Output

46

DIG_ENC_1Z

Incremental encoder 1 Index.

ECAT_CAN_ERR

State machine ERROR red LED for EtherCAT and CANopen. Can directly drive a red LED anode at 3.3 V up to 3 mA.

Output

48

HALL_1

Digital hall 1.

0 to 3.3 V level high impedance input. Typical Hall sensor interface based on pull-up and schmitt trigger buffer should be provided on the interface board.

Input, 3.3 V level single-ended

\ETH0_LED_LINK

Ethernet Port 0 Link signaling. Can directly drive a (typically) green LED cathode by sinking up to 3 mA while the anode is connected to 3.3 V.

Output

50

HALL_2

Digital hall 2.

0 to 3.3 V level high impedance input. Typical Hall sensor interface based on pull-up and schmitt trigger buffer should be provided on the interface board.

PHY0_TX_P

Port 0 Ethernet physical layer differential pairs. 50 Ω pull-up termination resistors are included on the drive. Magnetics with the center tap connected to MAGNETICS_CT (pin 54) must be added externally.

If this port is not used leave these pins unconnected. 

I/O

52

HALL_3

Digital hall 3.

0 to 3.3 V level high impedance input. Typical Hall sensor interface based on pull-up and schmitt trigger buffer should be provided on the interface board.

PHY0_TX_N

54

MAGNETICS_CT

Supply input for the Ethernet PHY modules, which must also supply the magnetics center tap. Two voltages can be provided:

• 3.3 V (can be connected to pin 56)

• 1.8 V (for low power consumption) *

• Must rise from 0 ms to 100 ms after 3.3V_D

Power input

PHY0_RX_P

56

3.3V_D

3.3 V power supply input. Must be connected together to the pin 23.

A well-regulated ±3%, low ripple, 1 A peak, 300 mA continuous source must be used (300 mA is total consumption shared between pin 23 and 56).

3.3 V power supply should have a rise time between 30 µs and 150 µs, and should be powered up before or together with 5V.

Power input

PHY0_RX_N

58

5V_D

5 V logic power supply input. A well regulated ±3%, low ripple, 500 mA peak, 250 mA continuous source must be used.

Power input

GND_D

Digital signal Ground.

Power

60

GND_D

Digital signal Ground.

Power

Molex

MOLEX 53885-0608

MOLEX 54102-0604 

60-pin stacking board connector. 0.5 mm pitch. Center strip, gold-plated surface mount contacts. 2.5 mm stacking height.

Molex SlimStack connectors operation and storage temperature, when mounted, is -45 ºC to 105 ºC.