Supply Connector


P1 Connector

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

PinSignalFunctionWarning! Risk of electric shock!
1+V_BUSPower supply positive

2GND_P

Power supply return.

Internally connected to GND_D. 

Notes

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

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. 

Inputs / Outputs and CAN Connector

P2 connector

20 pins 2-row Pico-Clasp 1 mm pitch gold-plated right-angle header. Molex 501571-2007.

PinSignalFunction
1+5V_I/O

+5 V 60 mA output, can be used for peripherals such as switches, I/Os, or even supply the safety inputs.  

2GND_D

Digital signal ground.

3IN1

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

4AN2-

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

5IN2

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

6AN2+

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. 

7OUT1Digital output 1 (3.3V levels).
8BRAKE_CURRENT_MONITORBrake current monitor analog output. Can be used to monitor or regulate brake current to reduce power or for diagnostic purposes. The gain is 2 V / A. 0 A → 0 V. 1 A → 2 V. 
9OUT2Digital output 1 (3.3V levels).
10AN1-Analog input 1 negative (±10 V range). Connect to GND if a single-ended analog input is used.
11AN_OUTAnalog output 3.3V levels.
12AN1+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. 
13BOOT

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 unconnected.

14+3.3V_I/O+3.3 V 60 mA output, can be used for peripherals such as switches, I/Os.
15GND_DDigital signal ground.
16GND_DDigital signal ground.
17CAN_LCAN bus line dominant low. Pins 17 and 18 are internally connected, can be useful for daisy-chain wiring. 
18CAN_L
19CAN_HCAN bus line dominant high. Pins 19 and 20 are internally connected, can be useful for daisy-chain wiring. 
20CAN_H

EtherCAT and Safety Connectors


P3 & P4 connectors
8 pins Pico-Clasp 1 mm pitch gold-plated right-angle header. Molex 2035580807.
PinSignalFunctionSuggested pinout M12-4 D-coded industrial EthernetSuggested pinout RJ45 LAN connector
1SAFETY_IN_ASafe Input A for STO and SBC (positive, active from 5 V to 30 V, ISOLATED). Internal bypass from P3 to P4.--
2SAFETY_RETURNSafe Inputs Return common (optocoupler LEDs cathode, ISOLATED). Internal bypass from P3 to P4.--
3SAFETY_IN_BSafe Input B for STO and SCB (positive, active from 5 V to 30 V, ISOLATED). Internal bypass from P3 to P4.--
4TX_D+Transmit Data+ line. Colour typ.: White - Orange11
5TX_D-Transmit Data- line. Colour typ.: Orange32
6RX_D+Receive Data+ line. Colour typ.: White - Green23
7RX_D-Receive Data- line. Colour typ.: Green46
8GND_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 / ShieldShroud / 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.

The safety signals are bypassed between connectors P3 and P4 to facilitate the daisy chain connection of communications and safety signals. 

Feedback Connector

P5 connector

30 pins 2-row Pico-Clasp 1 mm pitch gold-plated right-angle header. Molex 501571-3007.

PinSignalFunction
1GND_DDigital ground.
2MOTOR_TEMP_RETMotor 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.
3ENC_Z-Differential digital incremental encoder index- input. Leave unconnected if using single-ended encoders. 
4MOTOR_TEMP_INMotor temperature sensor input. A 1.65 kΩ pull-up resistor to 3.3 V is included on the drive.
5ENC_Z+Differential digital incremental encoder index+ input. 
6GND_DDigital ground.
7ENC_B-Differential digital incremental encoder B- input. Leave unconnected if using single-ended encoders. 
8HALL_3Digital hall sensor 3 input, 1 kΩ pullup to 3.3 V included. 
9ENC_B+Differential digital incremental encoder B+ input.
10HALL_2Digital hall sensor 2 input, 1 kΩ pullup to 3.3 V included. 
11ENC_A-Differential digital incremental encoder A- input. Leave unconnected if using single-ended encoders. 
12HALL_1Digital hall sensor 1 input, 1 kΩ pullup to 3.3 V included. 
13ENC_A+Differential digital incremental encoder A+ input.
14, 15, 16+3.3V_FEEDBACKS3.3V 250mA power supply output for feedbacks.
17, 18, 19, 20+5V_FEEDBACKS5V 400 mA power supply output for feedbacks.
21ABS1_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+.
22ABS2_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+.
23ABS1_CLK+Absolute encoder 1 CLK positive signal output.
24ABS2_CLK+

Absolute encoder 2 CLK positive signal output.

25ABS1_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+.
26ABS2_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+.
27ABS1_DATA+Absolute encoder 1 DATA positive signal input.
28ABS2_DATA+Absolute encoder 2 DATA positive signal input.
29, 30GND_DDigital ground.

Motor Connector

P6 connector

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

PinSignalFunctionWarning! Risk of electric shock!
1PH_CMotor phase C

2PH_BMotor phase B
3PH_AMotor phase A
4PEProtective earth connection, internally connected to standoffs and drive housing.
Notes

Warning, power supply, and motor terminals can have dangerous voltages in excess of 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). 

Brake Connector

P7 connector

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

PinSignalFunctionWarning! Risk of electric shock!
1+V_BUSDC bus voltage of the drive. Connect to pin 2 BRAKE_SUPPLY (jumper) to power the brake from the power supply

2BRAKE_SUPPLYBrake 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, 4GND_PPower supply negative. Connect to the negative of an external brake power supply in case the brake requires a voltage other than the motor power. 
5BRAKE_OUT_PSafe Brake (SBC) output positive. Will be disabled if SAFETY_IN_B is off. 
6BRAKE_OUT_NSafe Brake (SBC) output negative. PWM capable to modulate voltage and current applied to the brake. Will be hardware disabled if the SAFETY_IN_A is off.
Notes

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

Mating Connectors


P1 mating connector

Description

Molex Pico-Lock 2.0 mm pitch 2 positions.

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Part numberMolex 2053410202
P2 mating connector
DescriptionMolex Pico-Clasp™ 1.0 mm pitch 20 positions dual row receptacle with locking ramp
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Part numberMolex 501189-2010


P3 and P4 mating connectors
DescriptionMolex Pico-Clasp™ 1.0 mm pitch 8 positions single row receptacle with locking ramp
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Part numberMolex 5013300800


P5 mating connector
DescriptionMolex Pico-Clasp™ 1.0 mm pitch 30 positions dual row receptacle with locking ramp
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Part numberMolex 501189-3010


P6 mating connector

Description

Molex Pico-Lock 2.0 mm pitch 4 positions.

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Part numberMolex 2053410204


P7 mating connectors
DescriptionMolex Pico-Clasp™ 1.0 mm pitch 6 positions single row receptacle with locking ramp
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Part numberMolex 5013300600


P7 cable assembly
DescriptionMolex Pico-Clasp™ 1.0 mm pitch 6 positions cable assembly
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Part number

Molex 0151330601 (100 mm), 0151330603 (300 mm) 0151330606 (600 mm),  

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. 

P2, P3, P4, P5, P7 Crimp terminals
DescriptionMolex Pico-Clasp™ crimp socket 28 AWG ~ 32 AWG selective gold plated
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Part numberMolex 5011933000
Crimper tool
DescriptionHand crimper tool 28-32 AWG

Part numberMolex 63819-1500

P2, P3, P4, P5, P7 Crimped wires 150 mm

Description

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

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Part numberMolex 079758-1016

P2, P3, P4, P5, P7  Crimped wires 300 mm

Description

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

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Part numberMolex 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

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Part numberAlpha Wire SW20 NA005 | SW21 NA008

Wiring accessory: wire to wire solder sleeve

DescriptionWire 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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TEB-155-9001

Common mating terminals and cables for power connectors

The power connectors are all based on Molex Pico-Lock 2.0 connectors. Please refer to the Application note to find detailed instructions.

P1 and P6 Crimp terminals
DescriptionMolex Pico-Lock 2.0 crimp socket 20 AWG ~ 22 AWG selective gold plated
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Part numberMolex 205342-5028
Crimper tool
DescriptionHand crimper tool Pico-Lock 2.0 20-22 AWG

Part numberMolex 2133091000
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

Part numberAlpha Wire SW20 NA005 | SW21 NA008

Wiring accessory: wire to wire solder sleeve

DescriptionWire 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

TEB-155-9001