Pin configuration
Overview
| Connector | Function |
|---|---|
| X1 | Power connector |
| X2 | Motor connector |
| X3 | Micro USB |
| X4 | RS-232 interface |
| X5 | Inputs and Outputs connector |
| X6 | Encoder and Hall sensor connector |
| X7 | CANopen / RS-485 IN |
| X8 | CANopen / RS-485 OUT |
| S1 | Connection (Dip-Switch ON) /Disconnection (Dip-Switch OFF) of a 120 Ohm termination resistor for CAN/RS-485 |
| J1 | Jumper for switching CAN_L and RS-485 - |
| J2 | Jumper for switching CAN_H and RS-485 + |
| L1 | Status LED green |
| L2 | Status LED red |
Power (connector X1)
Safety instruction
 CAUTION |
|---|
|
Danger of electrical over voltage!
|
Voltage source
The operating or supply voltage is delivered by a battery, a transformer with rectification and filtering, or better a switch-mode power supply.
Interference suppression and protection measures are required when a DC power supply line with a length of >30 m is used or the motor is used on a DC bus. An EMI filter is to be installed in the DC supply cable with a small as possible distance to the motor controller/motor.
Long data or supply lines are to be routed through ferrites.
Connections
Connector type: JST XH
Pin 1 in the following image is marked with a "1".
| PIN | Function | Remark |
|---|---|---|
| 1 | +UB | 12 V - 24 V ±5% |
| 2 | GND |
Motor (connector X2)
Connector type: JST XH
Pin 1 in the following image is marked with a "1".
| PIN | Function Stepper | Function BLDC | Remark |
|---|---|---|---|
| 1 | A | U | |
| 2 | A\ | V | |
| 3 | B | W | |
| 4 | B\ | n.c. |
Micro USB (connector X3)
RS-232 interface (connector X4)
Connector type: JST GH
Pin 1 in the following image is marked with a "1".
| PIN | Function | Remark |
|---|---|---|
| 1 | RS-232-RX | |
| 2 | RS-232-TX | |
| 3 | GND |
Inputs and Outputs (connector X5)
Connector type: JST GH
Pin 1 in the following image is marked with a "1".
| PIN | Function | Remark |
|---|---|---|
| 1 | +10V DC | Output voltage, max. 200 mA |
| 2 | Digital Input 1 | 5 V signal, max. 1 MHz |
| 3 | Digital Input 2 | 5 V signal, max. 1 MHz |
| 4 | Digital Input 3 | 5 V signal, max. 1 MHz ("Direction" in Clock/Direction mode) |
| 5 | Digital Input 4 | 5 V signal, max. 1 MHz ("Clock" in Clock/Direction mode) |
| 6 | Digital Input 5 | 5 V signal, max. 1 MHz |
| 7 | Analogue Input 1 | 10 Bit , 0 - 10 V oder 0 - 20 mA, switchable by software with object 3221h, default setting: 0 - 10 V |
| 8 | Analogue Input 2 | 10 Bit , 0 - 10 V, not switchable by software |
| 9 | Digital Output 1 | Open-Drain, max. 24 V/100 mA |
| 10 | Digital Output 2 | Open-Drain, max. 24 V/100 mA |
| 11 | Digital Output 3 | Open-Drain, max. 24 V/100 mA |
| 12 | GND |
| Switching threshold | |
|---|---|
| On | Off |
| > approx. 3 V | < approx.1 V |
The current drain is approximately 0.4 mA. For the digital inputs the following internal schematic applies:
Encoder and Hall sensor (connector X6)
| CAUTION |
|---|
|
The controller with hardware version W004b does not work without an additional schematic (see below) with the following encoder:
With these encoder a PULL-UP resistor to 5 V is needed at the lines A, B and INDEX.
|
Connector type: JST GH
Pin 1 in the following image is marked with a "1".
| Note |
|---|
| Ensure, the encoder reaches the thresholds listed below. Otherwise a additional, external circuit is necessary. |
| PIN | Function | Remark |
|---|---|---|
| 1 | +5 V DC | Power supply for encoder/Hall sensor, max. 200 mA |
| 2 | A | 5 V signal |
| 3 | B | 5 V signal |
| 4 | Index | 5 V signal |
| 5 | H1 | 5 V signal |
| 6 | H2 | 5 V signal |
| 7 | H3 | 5 V signal |
| 8 | GND |
The following switching thresholds apply for the encoder inputs:
| Switching threshold | |
|---|---|
| On | Off |
| > ca. 2.8 V | < ca. 1.1 V |
The internal circuit of the encoder inputs is visualised in the following image.
CANopen/RS-485 IN (connector X7)
Connector type: JST GH
Pin 1 in the following image is marked with a "1".
| PIN | Function CANopen | Function RS-485 | Remark |
|---|---|---|---|
| 1 | +UB Logic | +UB Logic | 24 V DC, input voltage, current consumption: ca. 28 mA |
| 2 | CAN H | RS-485+ | switchable by jumper J2 |
| 3 | CAN L | RS-485- | switchable by jumper J1 |
| 4 | GND | GND |
Line polarization
| CAUTION |
|---|
| The device is not fitted with a line polarization and expects the master device to have one. |
- A Pull-Up Resistor to a 5V Voltage on RS-485+ (D1) circuit
- A Pull-Down Resistor to the ground circuit on RS-485- (D0) circuit
In this case, a polarization of the pair must be implemented at one location for the whole Serial Bus. Generally this point is to choose on the master device or on its connector. Other devices must not implement any polarization.
CANopen/RS-485 OUT (connector X8)
Connector type: JST GH
Pin 1 in the following image is marked with a "1".
| PIN | Function CANopen | Function RS-485 | Remark |
|---|---|---|---|
| 1 | +UB Logic | +UB Logic | 24 V DC, input voltage, current consumption: ca. 28 mA |
| 2 | CAN H | RS-485+ | switchable by jumper J2. |
| 3 | CAN L | RS-485- | switchable by jumper J1 |
| 4 | GND | GND |
Line polarization
| CAUTION |
|---|
| The device is not fitted with a line polarization and expects the master device to have one. |
- A Pull-Up Resistor to a 5V Voltage on RS-485+ (D1) circuit
- A Pull-Down Resistor to the ground circuit on RS-485- (D0) circuit
In this case, a polarization of the pair must be implemented at one location for the whole Serial Bus. Generally this point is to choose on the master device or on its connector. Other devices must not implement any polarization.
Terminating resistor (switch S1)
With this switch a terminating resistor of 120 ohm can be switched in between CAN_L and CAN_H, or RS-485- and RS-485+, on or off.
Jumper J1/J2
With these jumpers, the interface can be switched between CANopen or RS-485.
Setting RS-485
For the use of the RS-485 interface the jumper J1 and J2 have to be set towards the center of the board (see following image).
Setting CANopen
For the use of the CANopen interface he jumper J1 and J2 have to be set towards the edge of the board (see following image).
