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Connectors Guide

Connector overview

Supply Connector

XCR - Connectors Guide

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

Pin

Signal

Function

Warning! Risk of electric shock!

1

+V_BUS

Power supply positive

2

GND_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. 

See details in Power Supply and Motor Power.

Inputs / Outputs and CAN Connector

P2 connector

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

Pin

Signal

Function

1

+5V_I/O

+5 V 60 mA output, can be used for peripherals such as switches, I/Os. 

2

GND_D

Digital signal ground.

3

IN1

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

4

AN2-

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

5

IN2

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

6

AN2+

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. 

7

OUT1

Digital output 1: (3.3V levels).

8

DNC

Reserved. Do not connect (leave floating).

9

OUT2

Digital output 1: (3.3V levels).

10

AN1-

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

11

AN_OUT

Analog output 3.3V levels.

12

AN1+

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. 

13

BOOT

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

NC

Not connected.

15

GND_D

Digital signal ground.

16

GND_D

Digital signal ground.

17

CAN_L

CAN bus line dominant low. Pins 17 and 18 are internally connected, can be useful for daisy-chain wiring. 

18

CAN_L

19

CAN_H

CAN bus line dominant high. Pins 19 and 20 are internally connected, can be useful for daisy-chain wiring. 

20

CAN_H

EtherCAT and Safety Connectors


P3 & P4 connectors

8 pins Pico-Clasp 1 mm pitch gold-plated right-angle header. Molex 2035580807.

Pin

Signal

Function

Suggested pinout M12-4 D-coded industrial Ethernet

Suggested pinout RJ45 LAN connector

1

\STO_A

Safe Input A for STO (positive, active from 15 V to 30 V, ISOLATED). Internal bypass from P3 to P4.

-

-

2

STO_RETURN

Safe Inputs Return common (optocoupler LEDs cathode, ISOLATED). Internal bypass from P3 to P4.

-

-

3

\STO_B

Safe Input B for STO and SCB (positive, active from 15 V to 30 V, ISOLATED). Internal bypass from P3 to P4.

-

-

4

TX_D+

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

1

1

5

TX_D-

Transmit Data- line. Colour typ.: Orange

3

2

6

RX_D+

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

2

3

7

RX_D-

Receive Data- line. Colour typ.: Green

4

6

8

GND_ETH/PE

Connection for the EtherCAT cable shield. This pin is directly connected to the chassis of the drive - PE. It is recommended to use a cable shield termination with the same properties as 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.

The safety signals are bypassed between connectors P3 and P4 to facilitate the daisy chain connection of communications and safety signals.  Find more information in the Communications page.

Feedback Connector

P5 connector

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

Pin

Signal

Function

1

GND_D

Digital ground.

2

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.

3

ENC_Z-

Differential digital incremental encoder index- input. Leave unconnected if using single-ended encoders. 

4

MOTOR_TEMP_IN

Motor temperature sensor input. A 1.65 kΩ pull-up resistor to 3.3 V is included on the drive.

5

ENC_Z+

Differential digital incremental encoder index+ input. 

6

GND_D

Digital ground.

7

ENC_B-

Differential digital incremental encoder B- input. Leave unconnected if using single-ended encoders. 

8

HALL_3

Digital hall sensor 3 input, 1 kΩ pullup to 3.3 V included in the drive. 

9

ENC_B+

Differential digital incremental encoder B+ input.

10

HALL_2

Digital hall sensor 2 input, 1 kΩ pullup to 3.3 V included in the drive. 

11

ENC_A-

Differential digital incremental encoder A- input. Leave unconnected if using single-ended encoders. 

12

HALL_1

Digital hall sensor 1 input, 1 kΩ pullup to 3.3 V included in the drive. 

13

ENC_A+

Differential digital incremental encoder A+ input.

14, 15, 16

NC

Not Connected.

17, 18, 19, 20

+5V_FB

5V 400 mA power supply output for feedbacks.

21

ABS1_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+.

22

ABS2_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+.

23

ABS1_CLK+

Absolute encoder 1 CLK positive signal output.

24

ABS2_CLK+

Absolute encoder 2 CLK positive signal output.

25

ABS1_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+.

26

ABS2_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+.

27

ABS1_DATA+

Absolute encoder 1 DATA positive signal input.

28

ABS2_DATA+

Absolute encoder 2 DATA positive signal input.

29, 30

GND_D

Digital ground.

Motor Connector

P6 connector

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

Pin

Signal

Function

Warning! Risk of electric shock!

1

PH_C

Motor phase C

2

PH_B

Motor phase B

3

PH_A

Motor phase A

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 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). 

Mating Connector

P1 mating connector

Description

Molex Pico-Lock 2.0 mm pitch 2 positions.

Image

Part number

Molex 2053410202

P2 mating connector

Description

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

Image

Part number

Molex 501189-2010

P3 and P4 mating connectors

Description

Molex Pico-Clasp™ 1.0 mm pitch 8 positions single row receptacle with locking ramp

Image

Part number

Molex 5013300800

P5 mating connector

Description

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

Image

Part number

Molex 501189-3010

P6 mating connector

Description

Molex Pico-Lock 2.0 mm pitch 4 positions.

Image

Part number

Molex 2053410204

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 Crimp terminals

Description

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

Image

Part number

Molex 5011933000

Crimper tool

Description

Hand crimper tool 28-32 AWG

Image

Part number

Molex 63819-1500

P2, P3, P4, P5 Crimped wires 150 mm

Description

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

Image

Part number

Molex 079758-1016

P2, P3, P4, P5 Crimped wires 300 mm

Description

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

Image

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

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

TE

B-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

Description

Molex Pico-Lock 2.0 crimp socket 20 AWG ~ 22 AWG selective gold plated

Image

Part number

Molex 205342-5028

Crimper tool

Description

Hand crimper tool Pico-Lock 2.0 20-22 AWG


Part number

Molex 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 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

TE

B-155-9001

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