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