Connectors Guide

Connector Overview

XCR_Connectors_Overview

Supply

P1 connector

2.6 mm diameter gold plated solder pads or flying leads option. Pad pitch is 5.08 mm. 

PinSignalFunctionWarning! Risk of electric shock!
1POW_SUPPower supply positive

2GND_PPower supply return
Notes

Warning, power supply and motor terminals can have dangerous voltages in excess to 50 V and cause electric shock. Never touch them directly while in operation. The end installation must ensure that these terminals are not accessible. 

Recommended section wire is 2.5 mm2 ~ 5.3 mm2 , AWG 10 ~ AWG 13. Adapt the cable diameter to the worst-case current needs.

It is recommended to use flexible silicone or Teflon cables with high-temperature ratings ≥ 180 ºC. The diameter of the cable jacket (insulator) should be less than 5.08 mm to prevent collision between wires. 

The cables must always be mechanically secured after soldering.

When using power supply only (no logic supply) it is recommended to connect pins 27 (+LOG_SUP) and 29 (GND_D) of I/O connector J2 together.

Motor 

P2 connector

2.6 mm diameter gold plated solder pads or flying leads option. Pad pitch is 5.08 mm.

PinSignalFunctionWarning! Risk of electric shock!
1PH_AMotor phase A

2PH_BMotor phase B
3PH_CMotor phase C
4PEProtective earth connection, internally connected to standoffs and drive housing.
Notes

Warning, power supply and motor terminals can have dangerous voltages in excess to 50 V and cause electric shock. Never touch them directly while in operation. The end installation must ensure that these terminals are not accessible. 

Recommended section wire is 2.5 mm2 ~ 5.3 mm2 , AWG 10 ~ AWG 13. High-temperature materials are necessary (≥ 180 ºC).

The cables must be mechanically secured after soldering. 

For long cables, it is essential to use a shielding connected to protective earth at both ends of the cable.


More information

Check the Power Supply and Motor Power section for further information on how to connect the Everest XCR to a power supply and motor.

Feedback Connector

XCR_FeedbacksConnector

J1 connector

20 pins 2 row Pico-Clasp 1 mm pitch header. Molex 501190-2027

PinSignalFunction
1+5V_OUT5 V 200 mA total max. Pins 1, 9, 14 are internally connected.
2GND_DDigital signal ground
3ENC_A+/DATA2+

Differential digital incremental encoder: A+ input

Single-ended digital incremental encoder: A input

Absolute encoder 2: Data +

4ENC_B+

Differential digital incremental encoder: B+ input

Single-ended digital incremental encoder: B input

5ENC_A-/DATA2-

Differential digital incremental encoder: A- input

Single-ended digital incremental encoder: Leave unconnected

Absolute encoder 2: Data -

6ENC_B-

Differential digital incremental encoder: B- input

Single-ended digital incremental encoder: Leave unconnected

7ENC_Z+/CLK2+

Differential digital incremental encoder: Index+ input

Single-ended digital incremental encoder: Index input

Absolute encoder 2: Clock +

8ENC_Z-/CLK2-

Differential digital incremental encoder: Index- input

Single-ended digital incremental encoder: Leave unconnected

Absolute encoder 2: Clock -

9+5V_OUT5 V 200 mA total max. Pins 1, 9, 14 are internally connected.
10GND_D

Digital signal ground

11HALL_1Digital hall sensor input 1
12HALL_2Digital hall sensor input 2
13HALL_3Digital hall sensor input 3
14+5V_OUT5 V 200 mA total max. Pins 1, 9, 14 are internally connected.
15GND_D

Digital signal ground

16DATA1+

Absolute encoder 1 DATA positive signal input

17CLK1+Absolute encoder 1 CLK positive signal output
18DATA1-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 DATA+.
19CLK1-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 CLK+.
20PE

Protective earth connection, internally connected to standoffs and drive housing.

For systems where the drive is not integrated inside the motor, the PE pin should typically be connected to the feedback cable shield to protect it against electromagnetic interferences. To do so it is recommended to use a cable shield terminator like TE S02-16-R.


Input / Outputs Connector

XCR_IO_Connector

J2 connector

30 pins 2 row Pico-Clasp 1 mm pitch header. Molex 501190-3017

PinSignalFunction
1STO_1

Safe Torque Off input 1 (positive, active from 5 V to 30 V, ISOLATED)

2PE

Protective earth connection, internally connected to standoffs and drive cold plate. Can be used to connect cable shield. To do so it is recommended to use a cable shield terminator like TE S02-16-R.

3STO_RET

Safe Torque Off common (optocoupler LEDs cathode, ISOLATED).

4+5V_OUT+5 V output, can be used for STO circuit.
5STO_2

Safe Torque Off input 2 (positive, active from 5 V to 36 V, ISOLATED)

6GND_D

Digital signal ground

7NCIntentionally not connected.
8+5V_OUT

+5 V output, can be used for STO circuit.

9CAN_H

CAN bus line dominant high

10RESERVEDReserved
11CAN_L

CAN bus line dominant low

12RESERVEDReserved
13GND_DDigital signal ground
14IN1
Digital input 1 (5V levels)
15IN2
Digital input 2 (5V levels)
16IN3
Digital input 3 (5V levels)
17IN4Digital input 4 (5V levels)
18OUT1
Digital output 1 (5V levels)
19OUT2
Digital output 2 (5V levels)
20OUT3
Digital output 3 (5V levels)
21OUT4Digital output 4 (5V levels)
22AN1+Analog input 1 positive (±10V range)
23BRAKE_OUTBrake output (open-drain transistor with PWM capability). A freewheeling diode anode is connected to this pin.
24AN1-Analog input 1 negative (±10V range). Connect to GND if a single-ended analog input is used.
25BRAKE_DIODE_K

The cathode of the freewheeling diode for the brake should be connected to the power supply of the brake. The anode of the diode is connected to pin 23 (BRAKE_OUT).

26GND_DDigital signal ground
27+LOG_SUP

Logic supply positive.

Providing the logic supply is optional as the drive is automatically powered from the DC bus on its full operating voltage range. Logic supply can be used to keep communications alive while the power bus is off.

Powering the logic from this input at 12 V or 24 V reduces overall standby losses and drive self-heating since the main DC/DC converter of the drive has better efficiency at lower voltages.

28MOTOR_TEMPMotor temperature sensor input. A 1.65 kΩ pull-up resistor to 5 V is included on the drive.
29GND_D
Digital signal ground, logic supply negative


30MOTOR_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.

EtherCAT Connectors

XCR_ECATConnector


J3 & J4 connectors
5 pins 1 row Pico-Clasp 1 mm pitch header. Molex 501940-0507
PinSignalFunctionSuggested pinout M12-4 D-codedSuggested pinout RJ45
1TX_D+Transmit Data+ line. Colour typ.: White - Orange11
2TX_D-Transmit Data- line. Colour typ.: Orange32
3RX_D+Receive Data+ line. Colour typ.: White - Green23
4RX_D-Receive Data- line. Colour typ.: Green46
5GND_ETH

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.

Housing / ShieldShroud / Shield
Note

Both network connectors have the same pinout, thanks to auto-negotiation there is no need to make crossed-cables. I.e. TX+ of one device can be connected to TX+ of another.

Note that port 0 should be used as EtherCAT IN and port 1 as EtherCAT OUT.

 

Mating Connectors

J1 mating connector
DescriptionMolex Pico-Clasp™ 1.0 mm pitch 20 positions dual row receptacle with locking ramp
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Part numberMolex 501189-2010


J2 mating connector
DescriptionMolex Pico-Clasp™ 1.0 mm pitch 30 positions dual row receptacle with locking ramp
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Part numberMolex 501189-3010


J3 & J4 mating connectors with latch holder
Description

Molex Pico-Clasp™ 1.0 mm pitch 5 positions single row receptacle with Latch Holder.

Provides stronger locking performance and is easy to extract. Use this connector in case the wiring ensures no strong pull will be performed to the cables, this could cause damage to the PCB connector.

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Part numberMolex 501939-0500

J3 & J4 mating connectors with locking ramp

Description

Molex Pico-Clasp™ 1.0 mm pitch 5 positions single row receptacle with locking ramp.

Provides less strong locking compared to the latch holder but will avoid breaking the PCB connector in case of strong pull.

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Part number

Molex 501330-0500

Common mating terminals and cables for all signal connectors

All signal connectors are of Molex Pico-Clasp™ family. All share the same crimp terminals and jumper wires. Given the small size of the connectors, crimping must be done with appropriate tools and application guides provided by Molex. Otherwise, it is strongly recommended to buy pre-crimped jumper wires and connect to your system using split (or butt) terminals.  Spiral wraps are recommended to order and protect the thin wires and make tidy, elegant wiring. 

J1, J2, J3, J4 Crimp terminals
DescriptionMolex Pico-Clasp™ crimp socket 28 AWG ~ 32 AWG selective gold plated
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Part numberMolex 5011933000
Crimper tool
DescriptionHand crimper tool 28-32 AWG

Part numberMolex 63819-1500

J1, J2, J3, J4 Crimped wires 150 mm

Description

Molex Pico-Clasp™ 28 AWG black jumper lead socket to socket 150 mm length. Gold plated.

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Part numberMolex 079758-1016

J1, J2, J3, J4 Crimped wires 300 mm

Description

Molex Pico-Clasp™ 28 AWG black jumper lead socket to socket 300mm length. Gold plated.

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Part numberMolex 079758-1017
Wiring accessory: Spiral wire wrap
Description

Nylon spiral wrap abrasion resistant. Internal diameter:

2.41 mm, 3.18 mm expanded | 5.08 mm, 6.35 mm expanded

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Part numberAlpha Wire SW20 NA005 | SW21 NA008

Wiring accessory: wire to wire solder sleeve

DescriptionWire to Wire Solder Sleeve Heat shrinkable. Can be used to reliably connect pre-crimped wires to a specific sensor, feedback, or other thin wires.
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TEB-155-9001