Connectors Guide
This chapter details the Nix Servo Drive connectors and pinout. Four Nix variants are detailed:
- Nix with onboard connectors (NIX-x/xx-y-C).
- Nix with gold plated pin headers (NIX-x/xx-y-P).
- Nix with Quick Connector Board (NIX-x/xx-y-Q).
- Nix with EtherCAT interface (NIX-x/xx-E-z).
Connectors position and pinout of Nix with onboard connectors (NIX-x/xx-y-C)
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 | |
Distributor codes | Digi-Key 20020004-C041B01LF-ND Mouser 649-220004-C041B01LF |
Notes | |
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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 | |
Distributor codes | Farnell 1788432 Digi-Key 20020004-C031B01LF-ND Mouser 649-220004-C031B01LF |
Notes | |
|
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 | |
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 |
4 | ENC_A- / SIN- | Differential Encoder: A- input |
5 | ENC_B+ / COS+ | Single ended digital encoder: B input |
6 | ENC_B- / COS- | Differential Encoder: B- input |
7 | ENC_Z+ / REF+ | Single ended digital encoder: Index input |
8 | ENC_Z- / REF- | Differential Encoder: Index- 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 | ||
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 | ||
Distributor codes | Farnell 149093 Digi-Key A99460CT-ND Mouser 571-8-215083-2 | |
Cable | ||
Part number | ||
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 | |
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 | ||
|
Ribbon cable mating | |
---|---|
Description | TE Micro-Match Male-on-Wire 1.27 mm pitch 6 position |
Part number | |
Distributor codes | Digi-Key A99463CT-ND Mouser 571-7-215083-6 |
Cable | |
Part number | |
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 | |
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+ |
2 | HS_GPI2- / DIR- | High speed digital differential input 2- |
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+ |
8 | HS_GPI1- / PULSE- / PWM- | High speed digital differential input 1- |
9 | GND | Ground |
10 | AN_IN1 | Single ended analog input 1 |
11 | AN_IN2- | Differential analog inverting input 2 |
12 | AN_IN2+ | Differential analog non inverting 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 | ||
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 | ||
Distributor codes | Farnell 149147 Digi-Key A99458CT-ND Mouser 571-8-215083-6 | |
Cable | ||
Part number | ||
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 16 position |
Part number | |
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 | ||
|
Mating | |
---|---|
Description | USB Shielded I/O Cable Assembly, USB A-to-Micro-USB B, 1.50m Length, Black, Lead-Free |
Image | |
Part number | |
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 | ||
|
Ribbon cable mating | |
---|---|
Description | TE Micro-Match Male-on-Wire 1.27 mm pitch 4 position |
Part number | |
Distributor codes | Farnell 2399655 Digi-Key A107032TR-ND Mouser 571-215083-4 |
Cable | |
Part number | |
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 | |
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 | ||
|
Ribbon cable mating | |
---|---|
Description | TE Micro-Match Male-on-Wire 1.27 mm pitch 8 position |
Part number | |
Distributor codes | Farnell 149184 Digi-Key A99462CT-ND Mouser 215083-8 |
Cable | |
Part number | |
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 | |
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)
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+ |
I2 | HS_GPI2- / DIR- | High speed digital differential input 2- |
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+ |
I8 | HS_GPI1- / PULSE- / PWM- | High speed digital differential input 1- |
I9 | GND | Ground connection |
I10 | AN_IN1 | Single ended analog input 1 |
I11 | AN_IN2- | Differential analog inverting input 2 |
I12 | AN_IN2+ | Differential analog non inverting 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 |
F4 | ENC_A-/SIN- | Differential Encoder: A- input |
F5 | ENC_B+/COS+ | Single ended digital encoder: B input |
F6 | ENC_B-/COS- | Differential Encoder: B- input |
F7 | ENC_Z+/REF+ | Single ended digital encoder: Index input |
F8 | ENC_Z-/REF- | Differential Encoder: Index- 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 | Image | 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
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)
EtherCAT connectors
P9-P10 Connectors | ||
---|---|---|
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 | ||
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