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Denali XCR Cable Kit - Product Manual

Introduction

This document explains the content and wiring details of the Denali XCR Cable Kit (DEN-CAB). The kit is provided as a tool to speed up the connection between Denali XCR and the user's application.

It is composed of the following components:

  • 1 x Power supply cable - 300 mm (C-DEN-PSU)

  • 1 x Input / Output cable - 250 mm (C-DEN-IO)

  • 1 x EtherCAT Communication and Safety cable - 1 m (C-DEN-ECAT)

  • 1 x Feedback cable - 250 mm (C-DEN-FEED)

  • 1 x Motor power cable - 300 mm  (C-DEN-CO)

  • 10 x Extra Wires for Feedback & Input / Outputs - 250 mm (C-PC-EXTRA)

Power Supply Cable 

The Power supply cable is provided with a length of 300 m. It consists of a set of 2 x 20 AWG cables with a 2pin Molex Pico-lock connector on one side and flying leads on the other. Molex Pico-lock connector should be plugged directly into the XCR P1 connector. 

Side 1 - pin

Side 2 - pin

Wire color

Signal

Function

1

Flying lead

Black

+V_BUS

Power supply positive

2

Flying lead

Black

GND_P

Power supply return

Input / Output Cable

The Input / Output cable is provided with a length of 250 m. It consists of a set of 7 x 28 AWG cables with a 20-pin Molex Pico-clasp connector on one side and flying leads on the other. Molex Pico-clasp connector should be plugged directly into the XCR P2 connector. 

The cables are tied by means of spiral wraps in 3 different groups to simplify their identification:

  • Digital Incremental Encoder 

  • Digital Halls

  • Absolute Encoder

The pinout of the Feedback cable is as follows:

Side 1 - pin

Side 2 - pin

Wire color

Signal / Label

Function

1

Flying lead

Red

+5V_I/O

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

2

Flying lead

Black

GND_D

Digital signal ground. 

3

Flying lead

Orange

IN1

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

5

Flying lead

Green

IN2

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

16

Flying lead

Black

GND_D

Digital signal ground.

18

Flying lead

Blue

CAN_L

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

20

Flying lead

Brown

CAN_H

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

EtherCAT + Safety Cable

The EtherCAT and Safety cable is provided with a length of 1 m. It consists of a CAT6 (28 AWG - twisted pair & shielded) cable with a 8-pin Molex Pico-clasp connector on one side and a shielded RJ45 connector + flying leads on the other. Molex Pico-clasp connector should be plugged directly into the DEN-XCR P3 connector. 

Side 1 - pin

Side 2 - pin

Wire color

Twisted

Signal / Label

Function

1

Flying lead

Red

-

SAFETY_IN_A

Safe Input A for STO and SBC (positive, active from 5 V to 30 V, ISOLATED). Internal bypass from P3 to P4.

2

Flying lead

Black

-

SAFETY_RETURN

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

3

Flying lead

Yellow

-

SAFETY_IN_B

Safe Input B for STO and SCB (positive, active from 5 V to 30 V, ISOLATED). Internal bypass from P3 to P4.

4

1

White - Orange 

TX_D

TX_D+

Transmit Data+ line.

5

2

Orange

TX_D-

Transmit Data- line. 

6

3

White - Green

RX_D

RX_D+

Receive Data+ line. 

7

6

Green

RX_D-

Receive Data- line. 

8

Shroud / Shield

Drain wire

-

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.

Feedback Cable

The Feedback cable is provided with a length of 250 mm. It consists of a set of 30 x 28 AWG cables with a 30-pin Molex Pico-clasp connector on one side and flying leads on the other. Molex Pico-clasp connector should be plugged directly into the DEN-XCR P5 connector. 

Side 1 - pin

Side 2 - pin

Wire color

Signal / Label

Function

1

Flying lead

Black

GND_D

Digital ground.

2

Flying lead

Blue

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

Flying lead

Orange

ENC_Z-

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

4

Flying lead

Blue

MOTOR_TEMP_IN

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

5

Flying lead

Green

ENC_Z+

Differential digital incremental encoder index+ input. 

6

Flying lead

Black

GND_D

Digital ground.

7

Flying lead

Blue

ENC_B-

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

8

Flying lead

Yellow

HALL_3

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

9

Flying lead

Brown

ENC_B+

Differential digital incremental encoder B+ input.

10

Flying lead

Blue

HALL_2

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

11

Flying lead

Yellow

ENC_A-

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

12

Flying lead

White

HALL_1

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

13

Flying lead

White

ENC_A+

Differential digital incremental encoder A+ input.

14

Flying lead

Brown

+3.3V_FEEDBACKS

3.3V 250mA power supply output for feedbacks.

15

Flying lead

Brown

+3.3V_FEEDBACKS

3.3V 250mA power supply output for feedbacks.

16

Flying lead

Brown

+3.3V_FEEDBACKS

3.3V 250mA power supply output for feedbacks.

17

Flying lead

Red

+5V_FEEDBACKS

5V 500 mA power supply output for feedbacks.

18

Flying lead

Red

+5V_FEEDBACKS

5V 500 mA power supply output for feedbacks.

19

Flying lead

Red

+5V_FEEDBACKS

5V 500 mA power supply output for feedbacks.

20

Flying lead

Red

+5V_FEEDBACKS

5V 500 mA power supply output for feedbacks.

21

Flying lead

Brown

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

Flying lead

Brown

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

Flying lead

Blue

ABS1_CLK+

Absolute encoder 1 CLK positive signal output.

24

Flying lead

Blue

ABS2_CLK+

Absolute encoder 2 CLK positive signal output.

25

Flying lead

Yellow

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

Flying lead

Yellow

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

Flying lead

White

ABS1_DATA+

Absolute encoder 1 DATA positive signal input.

28

Flying lead

White

ABS2_DATA+

Absolute encoder 2 DATA positive signal input.

29

Flying lead

Black

GND_D

Digital ground.

30

Flying lead

Black

GND_D

Digital ground.

Motor Power Cable

The Motor power cable is provided with a length of 300 mm. It consists of a set of 4 x 20 AWG cables with a 4-pin Molex Pico-lock connector on one side and flying leads on the other. Molex Pico-lock connector should be plugged directly into the DEN-XCR P6 connector. 

Side 1 - pin

Side 2 - pin

Wire color

Signal / Label

Function

1

Flying lead

Black

PH_C

Motor phase C

2

Flying lead

Black

PH_B

Motor phase B

3

Flying lead

Black

PH_A

Motor phase A

4

Flying lead

Black

PE

Protective earth connection, internally connected to standoffs.

Extra wires for Feedbacks and Input / Outputs (C-PC-EXTRA)

Additionally, a set of 10 x 28 AWG cables with a pre-crimped Molex Pico-clasp socket on one side and flying leads on the other is provided. 

These cables could be used to populate any specific functionality not provided in the C-PC-FEED or C-PC-IO connectors.

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