Connectors Guide

This chapter details the Pluto Servo Drive connectors and pinout. Two Pluto variants are detailed:

Connectors position and pinout of Pluto (PLU-x/xx-S and PLU-x/xx-C)

PlutoConnectorsBlue

PlutoQuickPinout

Supply and shunt connector

P1 Connector

Pluto_Board_Supply_Connector

3 position 3.5 mm pitch pluggable terminal block, black. MOLEX 39502-1003

Pin

Signal

Function

1

GND

Negative power supply input (Ground)

2

SHUNT_OUT

External shunt resistor connection

3

POW_SUP

Positive power supply input

Mating
Description

Pluggable terminal block, 3 positions 3.5 mm pitch

Part number

MOLEX 395000003

Distributor codes

Arrow 395000003

Notes
  • See Power supply for power wiring information

  • For details on shunt operation see Motor and shunt Braking Resistor
  • 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 0.5 mm² ~ 1.5 mm²

Do not confuse with CAN connector

Please note that both CAN and Supply use the same type of connector, except for a difference of color: Supply and shunt connector is black and CAN connector is green. Please check you are connecting your power supply to the right connector. 

Previous versions compatibility

Supply connector has changed from version 1.0.1R of Pluto Servo Drive. Please see Hardware revisions for more information.

Motor connector

P2 Connector

PlutoBoardMotorConnector

4 position 3.5 mm pitch pluggable terminal block, black. Molex 39502-1004

Pin

Signal

Function

1

PH_A

Motor phase A (Positive for DC and voice coils)

2

PH_B

Motor phase B (Negative for DC and voice coils)

3

PH_C

Motor phase C (Do not connect for DC and voice coils)

4PE

Motor protective earth connection, internally connected to standoffs

Mating
Description

Pluggable terminal block, 4 positions 3.5 mm pitch

Part number

Molex 39500-0004

Distributor codes

Digi-Key WM7734-ND

Farnell 1368470

Mouser 538-39500-0004

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 0.5 mm² ~ 1.5 mm²

  • For wiring information, see motor and shunt braking resistor and protective earth wiring sections.

Micro-Match connectors mating

Most Pluto Servo Drive signal connections are based in TE Micro-Match connectors. Two different wiring options can be used ribbon cable and multi-core crimped cable.

Ribbon cable

Ribbon cable mating
Description

TE Micro-Match Male-on-Wire 1.27 mm pitch

Image PlutoMatingRibbonFeedback

Cable
Use 0.5 mm² (24 AWG) flat cable.

Easy wiring

Ribbon cable is the easiest and lowest cost option.

Multi-core crimped cable

Multi-core crimped cable mating

DescriptionTE Micro-Match housing connector 1.27 mm pitch
Image
Crimp terminals
DescriptionCrimp terminal, male, 20-24 AWG
Image PLU-151 - Getting issue details... STATUS
Part number

TE Connectivity 1-338097-1

Distributor codes

Farnell 1291807

Digi-Key A99491CT-ND

Mouser 571-1-338097-1

Cable

Use 0.2 ~ 0.5 mm² (20 ~24 AWG) flexible wires.

Clean wiring

Crimped single cables makes wiring cleaner and is a preferred option for volume applications.

Mechanical fixation for non-connected pins

Main mechanical subjection is provided by the fastening of male and female electrical pins. In order to increase mechanical subjection in applications where not all the pins are connected, it is important to put crimp terminals also in the pins without cable.

Feedback connector

P3 Connector

PlutoFeedbackConnector

12 pin 1.27 mm pitch TE Micro-Match 1-338068-2 connector.

Pin

Signal

Function

1

+5V_OUT

+5V 200mA max supply for feedbacks (shared with I/O connector)

2

GND

Ground connection

3

ENC_A+

Single ended digital encoder: A input
Differential digital encoder: A+ input

4

ENC_A-

Differential Encoder: A- input

5

ENC_B+

Single ended digital encoder: B input
Differential digital encoder: B+ input

6

ENC_B-

Differential Encoder: B- input

7

ENC_Z+

Single ended digital encoder: Index input
Differential digital encoder: Index+ input

8

ENC_Z-

Differential Encoder: Index- input

9

GND

Ground connection

10HALL_1Hall sensor input 1 (analog and digital)
11HALL_2Hall sensor input 2 (analog and digital)
12HALL_3Hall sensor input 3 (analog and digital)
Notes
  • Polarization hole on PCB indicates pin 1 and ensures correct cable position.
  • See Feedback connections for further information about different feedbacks wiring.
  • Pluto connectors include locking latches that provide audible click during mating and ensure assembly robustness

I/O Starter Kit and Cable Kit

Feedback connector pinout is shared with Jupiter, Hydra, Nix and Neptune servo drives, which allows using the IO starter kit and Pluto Cable Kit.

Previous versions compatibility

Feedback connector has changed from previous hardware revisions. Please see Hardware revisions for more information.

Ribbon cable mating
Description

TE Micro-Match Male-on-Wire 1.27 mm pitch 12 position

Part number

TE Conectivity 8-215083-2

Distributor codes

Farnell 149093

Digi-Key A99460CT-ND

Mouser 571-8-215083-2

Cable
Part number

3M 3302/16 300SF

Distributor codes

Farnell 1369751

Digi-Key MC16M-300-ND

Mouser 517-C3302/16SF

Notes
Multi-core crimped cable mating
Description

TE Micro-Match housing connector 1.27 mm pitch 12 position

Part number

TE Connectivity 1-338095-2

Distributor codes

Digi-Key A99497-ND

Mouser 571-1-338095-2

Cable

Use 0.2 ~ 0.5 mm² (20 ~24 AWG) flexible wires.

I/O connector 

P4 Connector

PlutoIOBoardConnector

16 pin 1.27 mm pitch TE Micro-Match 1-338068-6 connector.

Pin

Signal

Function

1

HS_GPI2+ / DIR+

High speed digital differential input 2+
Command source: Direction+ input

2

HS_GPI2- / DIR-

High speed digital differential input 2-
Command source: Direction- input

3

GND

Ground

4

GPO2

Digital output 2 (open collector with weak pull-up to 5 V)

5

GPO1

Digital output 1 (open collector with weak pull-up to 5 V)

6

GND

Ground

7

HS_GPI1+ / PULSE+ / PWM+

High speed digital differential input 1+
Command source: Pulse+ input

8

HS_GPI1- / PULSE- / PWM-

High speed digital differential input 1-
Command source: Pulse- input

9

GND

Ground

10

AN_IN1

Single ended analog input 1

11

AN_IN2-

Differential analog inverting input 2
Single ended analog input 2 ground

12

AN_IN2+

Differential analog non inverting input 2
Single ended analog input 2

13

GND

Ground

14

GPI2

General purpose single ended digital input 2

(Could be torque off input on request)

15

GPI1

General purpose single ended digital input 1

16

+5V_OUT

+5V 200mA max output (shared with feedback connector)

Notes
  • Polarization hole on PCB indicates pin 1 and ensures correct cable position.
  • See I/O connections for further information about different I/O wiring.
  • Pluto connectors include locking latches that provide audible click during mating and ensure assembly robustness

I/O Starter Kit and Cable Kit

I/O connector pinout is shared with Jupiter, Hydra, Nix and Neptune servo drives, which allows using the IO starter kit and Pluto Cable Kit.

Ribbon cable mating
Description

TE Micro-Match Male-on-Wire 1.27 mm pitch 16 position

Part number

TE Connectivity 8-215083-6

Distributor codes

Farnell 149147

Digi-Key A99458CT-ND

Mouser 571-8-215083-6

Cable
Part number

3M 3302/16 300SF

Distributor codes

Farnell 1369751

Digi-Key MC16M-300-ND

Mouser 517-C3302/16SF

Notes


Previous versions compatibility

Note: In previous Pluto versions (1.0.1R), which had CLIK-Mate connectors, pin 16 was connected to GND. Please see Hardware revisions for more information.

Multi-core crimped cable mating
Description

TE Micro-Match housing connector 1.27 mm pitch 16 position

Part number

TE Connectivity 1-338095-6

Distributor codes

Digi-Key A99495-ND

Mouser 571-1-338095-6

Cable

Use 0.2 ~ 0.5 mm² (20 ~24 AWG) flexible wires.

USB connector 

P5 Connector

PlutoUSBBoardConnector

5 pin horizontal micro-USB connector Amphenol FCI 10118193

Pin

Signal

Function

1

USB_SUPPLY

USB +5 V supply input.

2

USB_D-

USB Data- line

3

USB_D+

USB Data+ line

4

NC

Not connected

5

GND

Ground

SHIELDNCConnector metallic shield, NOT CONNECTED.
Notes
  • Micro-USB connection allows easy access to the drive configuration using Motion Lab or downloading latest firmware revision.
  • Shorter USB cables are preferred whenever possible for minimal EMI.

  • Avoid applying excessive mechanical stress to the USB connector.
  • Please see Communications page for further information
Mating
Description

USB Shielded I/O Cable Assembly, USB A-to-Micro-USB B, 1.50m Length, Black, Lead-Free

Image
Part number

Molex 68784-0002

Distributor codes

Farnell 1617586

Digi-Key WM17146-ND

Mouser 538-68784-0002

CAN connector 

P6 Connector
PlutoCANBoardConnector

3 position 3.5 mm pitch pluggable terminal block, green. FCI 20020110-C031A01LF

Pin

Signal

Function

1

CAN_GND

CAN ground (connected to circuit ground)

2

CAN_L

CAN bus line dominant low

3

CAN_H

CAN bus line dominant high

Mating
Description

Pluggable terminal block, 3 positions 3.5 mm pitch

Part number

FCI 20020004-C031B01LF

Distributor codes

Digi-Key 20020004-C031B01LF-ND

Farnell 1788432

Mouser 649-220004-C031B01LF

Notes
  • A 120 Ω termination is needed at the end of the CAN bus. 
  • See Communications for further information about CAN wiring.

Do not confuse with Supply connector

Please note that both CAN and Supply use the same type of connector, except for a difference of color: Supply and shunt connector is black and CAN connector is green. Please check you are connecting your power supply to the right connector. 

Previous versions compatibility

CAN connector has changed from previous hardware revisions. Please see Hardware revisions for more information.

Connectors position and pinout of Pluto with EtherCAT (PLU-x/xx-E

PlutoEtherCATBlack

EtherCAT connectors 

P7-P8 Connectors
PlutoEtherCATConnectorsBlack

Dual RJ45 connector Magjack Wurth 7499021125

Pin

Signal

Function

1

TX_D+

Transmit Data+ line

2

TX_D-

Transmit Data- line

3

RX_D+

Receive Data+ line

4

+2V5

2.5 V generated internally

5

+2V5

2.5 V generated internally

6RX_D-Receive Data- line
7NCNot connected
8GND_CHASSISConnected to the connector chassis
Notes
  • Pinout is the same for Input (PORT 1) and output (PORT 2) connectors