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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.

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.


TitanGoPowerTerminalsAssembly.png



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.

Image

https://media.digikey.com/photos/Molex/43025-0400_sml.jpg

Crimp terminals

Description

Micro-Fit™ Crimp Terminal, Female, Tin, Lead free

Image

https://media.digikey.com/Photos/Molex/0430300001_sml.jpg

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.

Image

https://media.digikey.com/Photos/Molex/0430300001-xx-Bx-D_sml.jpg

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
TitanGoAuxSupply.png

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.

Image

https://media.digikey.com/photos/Molex/43025-0400_sml.jpg

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
TitanGoCommsIOsConnector.png


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.

Image

https://media.digikey.com/photos/Molex/43025-1800_sml.jpg

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
TitanGOSafeTorqueConnector.png


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.

Image

https://media.digikey.com/photos/Molex/43025-0600_sml.jpg

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

https://media.digikey.com/photos/Molex/43025-0800_sml.jpg

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.

Image

https://media.digikey.com/photos/Molex/88732-8602_sml.jpg

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.

Image

https://media.digikey.com/photos/Molex/43025-1000_sml.jpg

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.

Image

https://media.digikey.com/photos/Molex/43025-0600_sml.jpg

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

https://media.digikey.com/photos/Molex/43025-1000_sml.jpg

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.