This chapter details the Nix Servo Drive connectors and pinout. Four Nix variants are detailed:

Connectors position and pinout of Nix with onboard connectors (NIX-x/xx-y-C)

NixOnboardConnectorsBlack

NixPinoutNew

Supply and shunt connector

P1 Connector
4 position 3.5 mm pitch pluggable terminal block. FCI 20020110-C041A01LF
Pin	Signal	Function
1	LOGIC_SUP	Logic supply input (only for NIX-5/170-y-z)
2	GND	Ground connection
3	SHUNT_OUT	Shunt braking transistor output
4	POW_SUP	Power supply input

Mating
Description	Pluggable terminal block, 4 positions 3.5 mm pitch
Part number	FCI 20020004-C041B01LF
Distributor codes	Digi-Key 20020004-C041B01LF-ND Mouser 649-220004-C041B01LF
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

Previous versions compatibility

Supply and shunt connector has changed from version 1.0.0B of the Nix Servo Drive. Version 1.0.0B connector was a 3 position pluggable terminal block with the following pinout.

Pin	Name	Description
1	GND	Ground connection
2	SHUNT_OUT	Shunt braking transistor output
3	POW_SUP	Power supply input

For Nix version 1.0.0B, the the Supply and shunt mating connector is the Motor mating connector (3 position).

For further information see Hardware revisions.

Motor connector

P2 Connector
3 position 3.5 mm pitch pluggable terminal block. FCI 20020110-C031A01LF
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)

Mating
Description	Pluggable terminal block, 3 positions 3.5 mm pitch
Part number	FCI 20020004-C031B01LF
Distributor codes	Farnell 1788432 Digi-Key 20020004-C031B01LF-ND Mouser 649-220004-C031B01LF
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 wiring section.

Previous versions compatibility

Motor connector has changed from version 1.0.0B of the Nix Servo Drive. Version 1.0.0B connector was a 4 position pluggable terminal block with the following pinout.

Pin	Name	Description
1	PH_A	Motor phase A connection (Positive for DC and voice coils)
2	PH_B	Motor phase B connection (Negative for DC and voice coils)
3	PH_C	Motor phase C connection (Do not connected in DC motors and voice coils)
4	PE	Protective Earth connection

For Nix version 1.0.0B, the the Motor mating connector is the Supply and shunt mating connector (4 position).

For further information see Hardware revisions.

Micro-Match connectors mating

Most Nix 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
Cable
Use 0.5 mm² (24 AWG) flat cable.

Easy wiring

Ribbon cable is the easiest and lowest cost option.

For some applications, the fastest and reliable option is connecting the flat cable directly to the sensor, feedback or IO pins by means of a heat shrink solder sleeve.

Wiring accessory: wire to wire solder sleeve
Description	Wire to Wire Solder Sleeve Heat shrinkable. Can be used to reliably connect flat Micro-Match wires to specific sensor, feedback or other thin wires.
Image
TE	B-155-9001
Distributor code	Digi-Key A104848-ND

Multi-core crimped cable

Multi-core crimped cable mating
Description	TE Micro-Match housing connector 1.27 mm pitch
Image
Crimp terminals
Description	Crimp terminal, male, 20-24 AWG
Image
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
Right-angled 12 pin 1.27 mm pitch TE Micro-Match 1-338070-2 connector.
Pin	Signal	Function
1	+5V_OUT	+5V 200mA max supply for feedbacks (shared with absolute encoder and I/O connectors)
2	GND	Ground connection
3	ENC_A+ / SIN+	Single ended digital encoder: A input Differential digital encoder: A+ input Sin-Cos encoder: Sin+ input
4	ENC_A- / SIN-	Differential Encoder: A- input Sin-Cos encoder: Sin- input
5	ENC_B+ / COS+	Single ended digital encoder: B input Differential digital encoder: B+ input Sin-Cos encoder: Cos+ input
6	ENC_B- / COS-	Differential Encoder: B- input Sin-Cos encoder: Cos- input
7	ENC_Z+ / REF+	Single ended digital encoder: Index input Differential digital encoder: Index+ input Sin-Cos encoder: Reference+ input
8	ENC_Z- / REF-	Differential Encoder: Index- input Sin-Cos encoder: Reference- input
9	GND	Ground connection
10	HALL_1	Hall sensor input 1 (analog and digital)
11	HALL_2	Hall sensor input 2 (analog and digital)
12	HALL_3	Hall 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. Nix 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, Pluto 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 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
For further information see Pluto cable Kit - Feedbacks.

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.

Absolute encoder connector

P4 Connector
Right-angled 6 pin TE Micro-Match 338070-6 connector.
Pin	Signal	Function
1	+5V_OUT	+5V 200mA max supply for absolute encoder (shared with feedback and I/O connector)
2	GND	Ground connection
3	CLK+	Absolute encoder CLK positive signal output
4	CLK-	Absolute encoder CLK negative signal output
5	DATA+	Absolute encoder DATA positive signal input
6	DATA-	Absolute encoder DATA negative signal input
Notes
Polarization hole on PCB indicates pin 1 and ensures correct mating connector position. See Feedback connections for further information about the absolute encoder wiring. Nix connectors include locking latches that provide audible click during mating and ensure assembly robustness

Ribbon cable mating
Description	TE Micro-Match Male-on-Wire 1.27 mm pitch 6 position
Part number	TE Connectivity 215083-6
Distributor codes	Digi-Key A99463CT-ND Mouser 571-7-215083-6
Cable
Part number	3M HF365/06SF
Distributor codes	Farnell 1859550 Digi-Key MD06R-100-ND Mouser 517-HF365/06SF

Multi-core crimped cable mating
Description	TE Micro-Match housing connector 1.27 mm pitch 16 position
Part number	TE Connectivity 338095-6
Distributor codes	Digi-Key A99415-ND Mouser 571-338095-8
Cable
Use 0.2 ~ 0.5 mm² (20 ~24 AWG) flexible cable.

I/O connector

P5 Connector
Right-angled 16 pin 1.27 mm pitch TE Micro-Match 1-338070-6 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 Feedback: PWM+ input
8	HS_GPI1- / PULSE- / PWM-	High speed digital differential input 1- Command source: Pulse- input Feedback: PWM- 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
16	+5V_OUT	+5V 200mA max output (shared with feedback and absolute encoder 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. Nix 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, Pluto 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
For further information see Pluto cable Kit - General purpose I/O.

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

P6 Connector
5 pin horizontal micro-USB connector Amphenol FCI 10118193
Pin	Signal	Function
1	USB_SUPPLY	USB +5 V supply input. Used to power logic circuits when no external power supply is available.
2	USB_D-	USB Data- line
3	USB_D+	USB Data+ line
4	NC	Not connected
5	GND	Ground
SHIELD	NC	Connector 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

P7 Connector
Right-angled 4 pin TE Micro-Match 338070-4 connector.
Pin	Signal	Function
1	CAN_GND	CAN ground (isolated from Nix power GND)
2	CAN_L	CAN bus line dominant low
3	CAN_H	CAN bus line dominant high
4	CAN_GND	CAN ground (isolated from Nix power GND)
Notes
Polarization hole on PCB indicates pin 1 and ensures correct mating connector position. See Communications for further information about CAN wiring. Nix connectors include locking latches that provide audible click during mating and ensure assembly robustness

Ribbon cable mating
Description	TE Micro-Match Male-on-Wire 1.27 mm pitch 4 position
Part number	TE Connectivity 215083-4
Distributor codes	Farnell 2399655 Digi-Key A107032TR-ND Mouser 571-215083-4
Cable
Part number	3M HF365/04SF
Distributor codes	Farnell 2396432 Digi-Key MD04R-100-ND Mouser 517-HF365/04SF
Notes
Wire impendance Typical flat ribbon cables with 1.27 mm pitch spacing have 90 Ω to 150 Ω differential impedance. For best CAN bus performance at high baud rates, the ribbon cable impedance should be ~120 Ω.

Cleverly wiring CAN buses from standard DB9 connectors

The Nix CAN pinout allows an easy connection to the standard DB9 connector using a 4 way 1.27 pitch flat ribbon cable.
Use a DB9 to ribbon connector like: H7MXH-0906M-ND or AMPHENOL L117DEFRA09S-ND. Corresponding pinouts:

Nix Micro-Match	DB9 standard to ribbon cable
1 (CAN_GND)	6 (CAN_GND)
2 (CAN_L)	2 (CAN_L)
3 (CAN_H)	7 (CAN_H)
4 (CAN_GND)	3 (CAN_GND)

Multi-core crimped cable mating
Description	TE Micro-Match housing connector 1.27 mm pitch 16 position
Part number	TE Connectivity 338095-4
Distributor codes	Farnell 2420421 Mouser 571-338095-4
Cable
Use 0.2 ~ 0.5 mm² (20 ~24 AWG) twisted pair with 120 Ω differential impedance.

RS485 interface connector

P8 Connector
Right-angled 8 pin TE Micro-Match 338070-8 connector.
Pin	Signal	Function
1	GND	Common (internally connected to drive GND)
2	GND	Common (internally connected to drive GND)
3	RX+	RS485 receive data + (should be connected to master TX+)
4	RX-	RS485 receive data - (should be connected to master TX-)
5	GND	Common (internally connected to drive GND)
6	GND	Common (internally connected to drive GND)
7	TX+	RS485 transmit data + (should be connected to master RX+)
8	TX-	RS485 transmit data - (should be connected to master RX-)
Notes
Polarization hole on PCB indicates pin 1 and ensures correct mating connector position. See Communications for further information about RS485 wiring. Nix connectors include locking latches that provide audible click during mating and ensure assembly robustness

Ribbon cable mating
Description	TE Micro-Match Male-on-Wire 1.27 mm pitch 8 position
Part number	TE Connectivity 215083-8
Distributor codes	Farnell 149184 Digi-Key A99462CT-ND Mouser 215083-8
Cable
Part number	3M HF365/06SF
Distributor codes	Farnell 1859550 Digi-Key MD06R-100-ND Mouser 517-HF365/06SF

Multi-core crimped cable mating
Description	TE Micro-Match housing connector 1.27 mm pitch 8 position
Part number	TE Connectivity 338095-8
Distributor codes	Digi-Key A99415-ND Mouser 571-338095-8
Cable
Use 0.2 ~ 0.5 mm² (20 ~24 AWG) flexible cable.

Connectors position and pinout of Nix with gold plated pin headers (NIX-x/xx-y-P)

NixPinHeaderVersion

NixPinHeaderVersionPinout

Top-side pinout

Note that the pinout diagram shows the board from the connector-side.

Pin	Name	Description
P1	POW_SUP	Positive power supply input
P2	SHUNT_OUT	Shunt braking transistor output
P3	GND	Negative power supply input (Ground)
P4	LOGIC_SUP	Positive logic supply input (only for NIX-5/170-y-z)
P5	PH_C	Motor phase C (Do not connect for DC and voice coils)
P6	PH_B	Motor phase B (Negative for DC and voice coils)
P7	PH_A	Motor phase A (Positive for DC and voice coils)
I1	HS_GPI2+ / DIR+	High speed digital differential input 2+ Command source: Direction+ input
I2	HS_GPI2- / DIR-	High speed digital differential input 2- Command source: Direction- input
I3	GND	Ground connection
I4	GPO2	Digital output 2 (open collector with weak pull-up to 5 V)
I5	GPO1	Digital output 1 (open collector with weak pull-up to 5 V)
I6	GND	Ground connection
I7	HS_GPI1+ / PULSE+ / PWM+	High speed digital differential input 1+ Command source: Pulse+ input Feedback: PWM+ input
I8	HS_GPI1- / PULSE- / PWM-	High speed digital differential input 1- Command source: Pulse- input Feedback: PWM- input
I9	GND	Ground connection
I10	AN_IN1	Single ended analog input 1
I11	AN_IN2-	Differential analog inverting input 2 Single ended analog input 2 ground
I12	AN_IN2+	Differential analog non inverting input 2 Single ended analog input 2
I13	GND	Ground connection
I14	GPI2	General purpose single ended digital input 2 (Could be torque off input on request)
I15	GPI1	General purpose single ended digital input 1
I16	+5V_OUT	+5V 200mA max output (shared with feedback connector and absolute encoder connector)
A1	+5V_OUT	+5V 200mA max output (shared with feedback connector and I/O connector)
A2	GND	Ground connection
A3	CLK+	Absolute encoder CLK positive signal output
A4	CLK-	Absolute encoder CLK negative signal output
A5	DATA+	Absolute encoder DATA positive signal input
A6	DATA-	Absolute encoder DATA negative signal input

Pin	Name	Description
R1	GND	Ground connection
R2	GND	Ground connection
R3	RX+	RS485 receive data + (should be connected to master TX+)
R4	RX-	RS485 receive data - (should be connected to master TX-)
R5	GND	Ground connection
R6	GND	Ground connection
R7	TX+	RS485 transmit data + (should be connected to master RX+)
R8	TX-	RS485 transmit data - (should be connected to master RX-)
C1	CAN_GND	CAN ground (isolated from Nix power GND)
C2	CAN_L	CAN bus line dominant low
C3	CAN_H	CAN bus line dominant high
C4	CAN_GND	CAN ground (isolated from Nix power GND)
F1	+5V_OUT	+5V 200mA max output (shared with I/O and absolute encoder connectors)
F2	GND	Ground connection
F3	ENC_A+/SIN+	Single ended digital encoder: A input Differential digital encoder: A+ input Sin-Cos encoder: Sin+ input
F4	ENC_A-/SIN-	Differential Encoder: A- input Sin-Cos encoder: Sin- input
F5	ENC_B+/COS+	Single ended digital encoder: B input Differential digital encoder: B+ input Sin-Cos encoder: Cos+ input
F6	ENC_B-/COS-	Differential Encoder: B- input Sin-Cos encoder: Cos- input
F7	ENC_Z+/REF+	Single ended digital encoder: Index input Differential digital encoder: Index+ input Sin-Cos encoder: Reference+ input
F8	ENC_Z-/REF-	Differential Encoder: Index- input Sin-Cos encoder: Reference- input
F9	GND	Ground connection
F10	HALL_1	Hall sensor input 1 (analog and digital)
F11	HALL_2	Hall sensor input 2 (analog and digital)
F12	HALL_3	Hall sensor input 3 (analog and digital)

Integrating the Nix with pin headers on a PCB

The Nix pin header version is designed to be soldered or plugged on a PCB.

Ingenia connector board

Ingenia provides a terminal block connector board, with open-source PCB design, which can be used as a reference.

Dimensions

The picture below shows the Nix dimensions and holes from the connector header point of view.

Footprint notes

3.20 mm diameter holes are mechanical fixing holes
Pin header pitch: 2.54 mm for signal and 3.5 mm for power pins.
Recommended pin header trough hole diameter: 0.9 mm (varies depending on the chosen pin receptacle)
Recommended power pins through hole diameter: 1.6 mm.
Avoid placing high components under the board. Check mechanical interference with the Nix (for more details see Dimensions and Assembly).

Routing the PCB

The traces should always be as short as possible to minimize potential EMI issues.
Take due care with signal returns and GND routing, especially for high speed signals and analog inputs.
Do NOT use a general ground plane as this could cause unwanted ground loops.
The width of the traces should be according to the current carrying capacity. For motor and supply traces use generous thick traces.
Spacing of the traces on external layers is crucial to guarantee safety. Recommended spacing for power and motor lines should exceed 0.4 mm (1.5 mm recommended).
Keep power and signal traces separated.

Mating connectors

If instead of soldering, a pluggable PCB is needed, following mating connectors are suggested.

Connector	Description	Part number	Distributor code	Quantity
Supply, shunt and motor	Power pin receptacle. Gold plated.	Milli-Max 3044-0-15-15-23-27-04-0	Digi-Key ED1198-ND	7
Feedback	8-way pin receptacle 8.5 mm height 2.5 mm width Gold flash	Sullins PPPC081LFBN-RC	Digi-Key S7041-ND	2
Absolute encoder	3-way pin receptacle 8.5 mm height 2.5 mm width Gold flash	Sullins PPPC031LFBN-RC	Digi-Key S7036-ND	2
I/O	6-way pin receptacle 8.5 mm height 2.5 mm width Gold flash	Sullins PPPC061LFBN-RC	Digi-Key S7039-ND	2
CAN	2-way pin receptacle 8.5 mm height 2.5 mm width Gold flash	Sullins PPPC021LFBN-RC	Digi-Key S7035-ND	2
RS485	4-way pin receptacle 8.5 mm height 2.5 mm width Gold flash	Sullins PPPC041LFBN-RC	Digi-Key S7037-ND	2

Nix with Quick Connectors Board (NIX-x/xx-y-Q)

The Nix Servo Drive with pin headers can be ordered with the Quick Connector Board:

Easy connection with motor, feedbacks, I/O and communications, without need of mating connectors.
No extra crimping tools are needed to start using the Nix Servo Drive (only a screwdriver to plug the cables).
The Quick Connector Board has spring type connectors from Phoenix and Weidmuller for easy and fast prototyping and testing.
Supply and motor cables can be connected or directly soldered.
Simple user interface with clear labeling.
See Dimensions to check the total size of the assembly.

Wire gauges

Recommended conductor cross section:

Power and motor cables: 0.5 mm² ~ 1.5 mm² (20 ~ 16 AWG).
Signal wires: 0.2 mm² ~ 0.5 mm² (26 ~ 20 AWG).

Open-source design

The Quick Connector Board is an open-source design and can be used as reference.

The 3DPDF, the STEP model and the PCB outputs of the Quick connector board are available for download

NixPinHeaderVersionConnectorBoard

As can be seen, the pinout is clearly labeled in the Quick Connector Board:

Connectors position and pinout of Nix with EtherCAT (NIX-x/xx-E-z)

NixEtherCATPositionBlack

NixEtherCATConnectorsBlack2

EtherCAT connectors

P9-P10 Connectors
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
6	RX_D-	Receive Data- line
7	NC	Not connected
8	GND_CHASSIS	Connected to the connector chassis
Notes
Pinout is the same for Input (PORT 1) and output (PORT 2) connectors