Connectors Guide

This chapter details the Titan Go Servo Drive connectors and pinout.

Supply, shunt and motor terminals

Power terminals
1 to 6: M8 female terminal, 27 mm pitch. ERNI 225872. 7 to 10: M3 torx screw terminal. PE holes: 9 mm diameter.
Pin	Signal	Function	Screw size
1	PH_C	Motor phase C (Do not connect for DC and voice coils)	M8
2	PH_B	Motor phase B (Negative for DC and voice coils)
3	PH_A	Motor phase a (Positive for DC and voice coils)
4	SHUNT_OUT	Shunt braking transistor output (Shunt braking resistor should be connected between +POW_SUP and SHUNT_OUT)
5	GND_P	Power ground connection (Isolated from logic GND and Protective Earth)
6	POW_SUP	Power supply positive
7, 9	DC_BUS-	Internal DC bus negative. Internally connected to GND_P but not intended as power supply terminal. Used for additional DC link capacitance.	M3
8, 10	DC_BUS+	Internal DC bus positive. Not intended as power supply terminal. Used for additional DC link capacitance. Titan includes an internal capacitor soft precharge circuit, removing the need for external precharge relays.	M3
Plate	PE	Protective Earth. The assembly screws must be used as earthing connectors.	M8
Notes
Dimension the wiring according to the application current ratings. Higher section is always preferred to minimize resistance and wire self-heating. Recommended wire section is 20 mm² ~ 33.5 mm² Never exceed the 9 Nm screw limit for the power connectors as this could cause permanent damage. The torque generated by the cables or bus bars must never exceed 9 Nm in any axis. Take care to fasten the cables or bus bars to prevent unnecessary forces.

Extra capacitance

It is recommended to add extra capacitance to the main DC supply. The Titan Go has minimal DC bus capacitance that is enough to filter high frequency currents and is enough for battery powered applications. However it could not be enough in some cases and could damage the power supply by demanding excessive current ripple. Add at least a total capacitance of 5 µF/ A (motor phase RMS) to avoid stressing the power supply and minimize EMI problems. Use good quality DC link metalized polymer film capacitors with low ESR (suggested polypropylene).

Ring terminals and screws

Due to the high current ratings, ring terminals and screws are needed for the power terrminals. Following are shown the recommended part numbers.

M8 screw		Assembly
Description	M8 allen screw, 12 mm length	Maximum torque The maximum torque applied to the screws must never exceed 9 Nm. It can damage the connector and also the printed circuit board. The following picture shows the correct order of the mechanical elements and extra comments for the assembly.
Part number	RS-Pro232-8322
Distributor codes	RS 232-8322
Crinkle washer
Description	M8 stainless steel crinkle washer
Part number	Duratool D00829
Distributor codes	Farnell 1614006
Ring terminal
Description	M8 insulated ring terminal, 2 AWG cable
Part number	Molex 0190710285
Distributor codes	Digi-Key WM13727-ND Mouser 538-19071-0285
Brass washer
Description	M8 brass washer
Part number	RS-Pro 483-2637
Distributor codes	RS 483-2637

Micro Fit 3.0 connectors mating

All Titan Go Servo Drive signal and communication connections are based in Molex Micro-Fit™ 3 mm pitch connectors. Multi-core crimped cables can be used for wiring inputs, outputs, feedbacks and communications.

Multi-core crimped cable mating
Description	Molex Micro-Fit™ Receptacle Housing, 3.00mm Pitch.
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Crimp terminals
Description	Micro-Fit™ Crimp Terminal, Female, Tin, Lead free
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Part number	Molex 43030-0001
Distributor codes	Farnell 1462526 / Digi-Key WM1837CT-ND / Mouser 538-43030-0001-CT
Pre-assembled wires
Description	20-24 AWG pre-crimped jumper cable (50.8 mm). Note: there are many lengths and colors available at Digi-Key.
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P1: Aux supply connector

Titan GO is self supplied from the DC bus using an internal DC/DC converter that starts at 60 V and works up to 850 V.

However, some applications require an independent auxiliary power supply to work with the power off. This can be done with connector P1.

This connector also includes a +24 V output that can be used for fans, relays or for STO circuits.

P1 connector
4 pin 2 row Micro-Fit™ 3.0, 3 mm pitch header. Molex
Pin	Signal	Function
1	GND_D	Logic ground connection, isolated from GND_P
2	+24V_IN	+24 V logic supply input (10 V to 60 V)
3	GND_D	Logic ground connection, isolated from GND_P
4	+24V_OUT	+24 V logic auxiliar supply output
Notes
The internal logic supply can be monitored using the analog input 2. MOLEX Micro-Fit connectors do not follow the typical pinout layout of other connectors such as pin headers or ribbon connectors. Pay close attention not to connect them in a wrong order.

P1 Mating
Description	3.00mm Pitch, Micro-Fit™ 3.0 Receptacle Housing, 4 Circuits.
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Part number	Molex 43025-0400
Distributor code	Digi-Key WM1784-ND / Mouser 538-43025-0400 / Farnell 672890
Notes
See Micro-Fit 3.0 connectors mating for further information about crimping terminals and cables.

P2: Communications and IOs connector

Titan GO has an isolated connector for the communications and the inputs/outputs. It includes RS-485, CAN, 5x Digital inputs, 1x Digital output and 1x Analog input.

P2 connector
18 pin 2 row Micro-Fit™ 3.0, 3 mm pitch header.
Pin	Signal	Function
1	RS485_RX+	RS485 receive data + (should be connected to master TX+)
2	RS485_RX-	RS485 receive data - (should be connected to master TX-)
3	CAN_L	CAN bus line dominant low
4	CAN_H	CAN bus line dominant high
5	GND_ISO	Ground for the isolated connector
6	AN_IN+	Differential ±10 V analog non inverting input Single ended analog input
7	GPI2	General purpose single ended digital input 2
8	+5V_ISO	5 V 50 mA max
9	GND_ISO	Ground for the isolated connector
10	RS485_TX+	RS485 transmit data + (should be connected to master RX+)
11	RS485_TX-	RS485 transmit data - (should be connected to master RX-)
12	GND_ISO	Ground for the isolated connector
13	GPO1	General purpose digital output
14	GPI1	General purpose single ended digital input 1
15	AN_IN-	Differential ±10 V analog inverting input Single ended analog input ground
16	HS_GPI1	High speed digital single ended input 1 Command source: Pulse input Feedbacks: PWM input
17	GPI3	General purpose single ended digital input 3
18	HS_GPI2	High speed digital single ended input 2 Command source: Direction input
Notes
GPO1 is 0 to +3.3 V, with a 330 Ω resistor in series for current limiting.

P2 Mating
Description	3.00mm Pitch, Micro-Fit™ 3.0 Receptacle Housing, 18 Circuits.
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Part number	Molex 43025-0400
Distributor code	Digi-Key WM2491-ND / Mouser 538-43025-1800 / Farnell 9961330
Notes
See Micro-Fit 3.0 connectors mating for further information about crimping terminals and cables.

P3: Safe torque off connector

Titan GO has a Safe Torque Off interface (SIL 3 compliant).

P3 connector
6 pin 2 row Micro-Fit™ 3.0, 3 mm pitch header. Molex
Pin	Signal	Function
1	STO1	Safe Torque Off input 1 (24 V levels)
2	STO2	Safe Torque Off input 2 (24 V levels)
3	STO_STATUS_EMITTER	Safe Torque Off Feedback output signalling optocoupler emitter
4	NC	Not connected
5	STO_COMMON	Safe Torque Off input common (optocoupler LEDs cathode).
6	STO_COLLECTOR	Safe Torque Off Feedback output signalling optocoupler collector
Notes
In case you are not using STO functionality it must be bypassed. Connect STO_COMMON to GND of connector P1. Connect both STO1 and STO2 to 24V_OUT of connector P1. When STO is disconnected the power stage is totally disabled, including current sense amplifiers. It is not possible to read motor phase current with this error active.

P3 Mating
Description	3.00mm Pitch, Micro-Fit™ 3.0 Receptacle Housing, 6 Circuits.
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Part number	Molex 43025-0600
Distributor code	Digi-Key WM1785-ND / Mouser 538-43025-0600 / Farnell 672907
Notes
See Micro-Fit 3.0 connectors mating for further information about crimping terminals and cables.

P4: Digital halls and motor temperature connector

P4 connector
8 pin 2 row Micro-Fit™ 3.0, 3 mm pitch header. Molex
Pin	Signal	Function
1	HALL_1	Digital Hall 1 sensor input
2	HALL_2	Digital Hall 2 sensor input
3	HALL_3	Digital Hall 3 sensor input
4	+5V_OUT	5 V 50 mA max isolated output for halls
5, 6	GND_HALLS	Halls only ground connection, isolated from GND_P and GND_D to maximize noise immunity.
7	MOT_TEMP1	Motor temperature sensor connection (connect the other terminal to pin 8). Includes a 30 kΩ pull-up to 3.3 V. The pin is connected to analog input 3.
8	MOT_TEMP2	Motor temperature sensor return, a 330 Ω connects this pin to digital GND.
Notes

P4 Mating
Description	3.00mm Pitch, Micro-Fit™ 3.0 Receptacle Housing, 8 Circuits.
Image
Part number	Molex 43025-0800
Distributor code	Digi-Key WM1786-ND / Mouser 538-43025-0800 / Farnell 672919
Notes
See Micro-Fit 3.0 connectors mating for further information about crimping terminals and cables.

P5: USB connector

P5 connector
5 pin vertical mini-USB connector. Wurth Electronics 651005136421.
Pin	Signal	Function
1	USB_SUPPLY	USB +5V. Does not supply the Titan.
2	USB_D+	USB Data+ line
3	USB_D-	USB Data- line
4	NC	Not connected
5	GND_USB	USB GND, isolated from all other GNDs.
SHIELD	NC	Connector metallic shield, NOT CONNECTED.
Notes
Avoid applying excessive lateral forces to the USB connector. USB connection allows drive configuration using MotionLab2 or downloading latest firmware revision. Shorter USB cables are preferred whenever possible for minimal EMI. Please see Communications page for further information. The Titan USB port is 100% isolated from the power.

P5 Mating
Description	USB Shielded I/O Cable Assembly, USB A-to-Mini-USB B, 1 m Length, Black, Lead-Free. Not included in the delivery of Titan Go.
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Part number	Molex 43025-0800
Distributor code	Digi-Key WM17493-ND / Mouser 538-88732-8602 / Farnell 1221071

P6: Encoder connector

P6 connector
10 pin 2 row Micro-Fit™ 3.0, 3 mm pitch header. Molex.
Pin	Signal	Function for incremental encoder	Function for analog encoder (Sin Cos)
1,3,8	GND_D	Logic ground.
2	QEA/SIN_P	Quadrature A positive input	Sin positive input
4	QEB/COS_P	Quadrature B positive input	Cos positive input
5	QEZ/REF_P	Index positive input	Reference positive input
6	+5V_OUT	5 V 200 mA regulated and short-circuit protected power supply for the encoder
7	QEA/SIN_N	Quadrature A negative input	Sin negative input
9	QEB/COS_N	Quadrature B negative input	Cos negative input
10	QEZ/REF_N	Index negative input	Reference negative input
Notes
Depending on the configuration by software, some pins can be inputs or outputs. Please, configure the encoder as incremental before doing connecting it to prevent signal collision between clock (output) and A signals (input)

P6 Mating
Description	3.00mm Pitch, Micro-Fit™ 3.0 Receptacle Housing, 10 Circuits.
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Part number	Molex 43025-1000
Distributor code	Digi-Key WM1787-ND / Mouser 538-43025-1000 / Farnell 672920
Notes
See Micro-Fit 3.0 connectors mating for further information about crimping terminals and cables.

P7: Resolver

P7 connector
6 pin 2 row Micro-Fit™ 3.0, 3 mm pitch header. Molex.
Pin	Signal	Function for incremental encoder
1	EXC+	Excitation positive
2	COS+	Cosine positive
3	SIN+	Sine positive
4	EXC-	Excitation negative
5	COS-	Cosine negative
6	SIN-	Sine negative
Notes
Attention, this connector is the same model as the STO. Titan standard option is for resolver with a transform ratio of 1:0.5. Other gains are possible on demand.

P7 Mating
Description	3.00mm Pitch, Micro-Fit™ 3.0 Receptacle Housing, 6 Circuits.
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Part number	Molex 43025-0600
Distributor code	Digi-Key WM1785-ND / Mouser 538-43025-0600 / Farnell 672907
Notes
See Micro-Fit 3.0 connectors mating for further information about crimping terminals and cables.

P8: Absolute Encoder

P8 connector
6 pin 2 row Micro-Fit™ 3.0, 3 mm pitch header. Molex.
Pin	Signal	Function for absolute encoder
1	GND_D	Logic ground.
2	CLK+	Clock positive signal output
3	GND_D	Logic ground.
4	DIN+	Data positive signal input
5	NC	Not connected
6	+5V_OUT	5 V 200 mA regulated and short-circuit protected power supply for the encoder
7	CLK-	Clock negative signal output
8	GND_D	Logic ground.
9	DIN-	Data negative signal input
10	NC	Not connected
Notes
This connector was added on version 1.2.0. Wiring is 100% compatible with connectors of version 1.1.0.

P8 Mating
Description	3.00mm Pitch, Micro-Fit™ 3.0 Receptacle Housing, 10 Circuits.
Image
Part number	Molex 43025-1000
Distributor code	Digi-Key WM1787-ND / Mouser 538-43025-1000 / Farnell 672920
Notes
See Micro-Fit 3.0 connectors mating for further information about crimping terminals and cables.