Connectors Guide

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

NixBoardSupplyConnector

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

4POW_SUPPower 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

NixBoardMotorConnector

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)

4PEProtective 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

DescriptionWire 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

TEB-155-9001
Distributor codeDigi-Key A104848-ND


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

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

NixBoardFeedbackConnector

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

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.
  • 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
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

NixBoardEncoderConnector

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

4CLK-

Absolute encoder CLK negative signal output

5DATA+

Absolute encoder DATA positive signal input

6DATA-

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

NixBoardIOConnector

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
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

NixBoardUSBConnector

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

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 

P7 Connector

NixBoardCANConnector

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

4CAN_GNDCAN 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-MatchDB9 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

NixBoardRS485Connector

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+)

4RX-

RS485 receive data - (should be connected to master TX-)

5GND

Common (internally connected to drive GND)

6GND

Common (internally connected to drive GND)

7TX+RS485 transmit data + (should be connected to master RX+)
8TX-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.

PinNameDescription
P1POW_SUPPositive power supply input
P2SHUNT_OUTShunt braking transistor output
P3GNDNegative power supply input (Ground)
P4LOGIC_SUPPositive logic supply input (only for NIX-5/170-y-z)
P5PH_CMotor phase C (Do not connect for DC and voice coils)
P6PH_BMotor phase B (Negative for DC and voice coils)
P7PH_AMotor 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)
A2GNDGround connection
A3CLK+Absolute encoder CLK positive signal output
A4CLK-Absolute encoder CLK negative signal output
A5DATA+Absolute encoder DATA positive signal input
A6DATA-Absolute encoder DATA negative signal input
PinNameDescription
R1GNDGround connection
R2GND

Ground connection

R3RX+

RS485 receive data + (should be connected to master TX+)

R4RX-

RS485 receive data - (should be connected to master TX-)

R5GND

Ground connection

R6

GND

Ground connection

R7TX+RS485 transmit data + (should be connected to master RX+)
R8TX-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)

F12HALL_3Hall 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.

ConnectorDescriptionPart numberImageDistributor codeQuantity
Supply, shunt and motor

Power pin receptacle.

Gold plated.

Milli-Max 3044-0-15-15-23-27-04-0

Digi-Key ED1198-ND7
 Feedback

8-way pin receptacle

8.5 mm height

2.5 mm width

Gold flash

Sullins PPPC081LFBN-RC

Digi-Key S7041-ND2
Absolute encoder

3-way pin receptacle

8.5 mm height

2.5 mm width

Gold flash

Sullins PPPC031LFBN-RC

Digi-Key S7036-ND2
 I/O

6-way pin receptacle

8.5 mm height

2.5 mm width

Gold flash

Sullins PPPC061LFBN-RC

Digi-Key S7039-ND2
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-ND2

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
NixEtherCATConnectors

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