Connector pinout

Information to wiring, mating connectors and cables (see "Wiring").

X1 and X2: Motor, Brake, Feedback 1

Pin

Label

Signal

 Description

1

U

U

Motor phase U

2

V

V

Motor phase V

3

W

W

Motor phase W

 

 retention latch, shield screw

5

PE

PE

Protective earth

B+

B+

BR+

Motor holding brake +

B-

B-

BR-

Motor holding brake -

F+

F+

COM+

SFD3 + or HIPERFACE DSL +

F-

F-

COM-

SFD3 - or HIPERFACE DSL -

X3: Mains, regen resistor, DC-Bus

Pin

Label

Signal

 Description

1

PE

PE

Protective earth

2

R

L1

3~ mains supply L1, 1~ supply L, DC supply +

3

S

L2

3~ mains supply L2

4

T

L3

3~ mains supply L3, 1~ supply N, DC supply -

5

Ri

RBint

internal regen resistor

6

RE

-RB

external regen resistor -

7

+DC

+DC (+RBext)

DC Bus link+ and/or external regen resistor +

8

-DC

-DC

DC Bus link -

X3A/X3B: Mains, regen resistor, DC-Bus

 

X3A

Pin

Label

Signal

 Description

1

PE

PE

Protective earth

2

R

L1

3~ mains supply L1, 1~ supply L, DC supply +

3

S

L2

3~ mains supply L2

4

T

L3

3~ mains supply L3, 1~ supply N, DC supply -

X3B

Pin

Label

Signal

 Description

5

Ri

RBint

internal regen resistor

6

RE

-RB

external regen resistor -

7

+DC

+DC (+RBext)

DC Bus link+ and/or external regen resistor +

8

-DC

-DC

DC Bus link -

X4: Second Brake

Use with single axis drives and Safety Option 23 for safety functions, which require a second brake.
  • 3 pin, pitch 3.81 mm
  • Spring clamps
  • Second motor brake
  • Required for SIL3 brake control

Pin

 Signal Description

1

PE

Protective earth

2

BR2-

Second (external) brake -

3

BR2+

Second (external) brake +

X5: Feedback 2

Use with single axis drives and Safety Option 23 for application, which require a second feedback.

Pin

 Signal Description

1

PE

Protective earth

2

COM2-

Second SFD3 - or Second/Safe HIPERFACE DSL -

3

COM2+

Second SFD3 + or Second/Safe HIPERFACE DSL +

X10: 24 VDC

Pin

 Signal Description

1

+ 24 V

+24 VDC supply voltage, PELV

2

GND

Ground for 24 VDC supply voltage, PELV

X11, X12: EtherNet Fieldbus

Pin

 Signal Description

Pin

 Signal Description

1

Tx+

Transmit +

5

Term.

Termination

2

Tx-

Transmit -

6

Rx-

Receive -

3

Rx+

Receive +

7

Term.

Termination

4

Term.

Termination

8

Term.

Termination

X13, X14: CAN bus (optional)

Pin

 Signal Description

Pin

 Signal Description

1

n.c.

not used

4

CAN_low

CAN bus low signal

2

Shield

Chassis

5

CAN_GND

CAN bus ground

3

CAN_high

CAN bus high signal

6

n.c.

not used

X20: Service

  • RJ45 with built-in green and yellow LEDs
  • 100/10 Mbit EtherNet TCP/IP, Modbus/TCP
  • Supports auto-IP, DHCP and fixed IP addressing
  • Supports point-to-point (i.e. Auto-IP) and connection by using network switches
  • Supports automatic discovery in WorkBench if in the same sub-net.
  • Interface Details: (see "Service Interface connector X20")

Pin

 Signal Description

Pin

 Signal Description

1

Tx+

Transmit +

5

Term.

Termination

2

Tx-

Transmit -

6

Rx-

Receive -

3

Rx+

Receive +

7

Term.

Termination

4

Term.

Termination

8

Term.

Termination

 

X21: I/O, Feedback 4

Digital I/O connectivity

Pin

Signal

Description

A1

Analog-In (AIN) 1 +

Analog Input +/- 10 V

A2

Analog-In (AIN) 1 -

A3*

Digital-In (DIN) 1

Fast, isolated, sink, type EN 61131-2 type 1

A4*

Digital-In (DIN) 2

Fast, isolated, sink, type EN 61131-2 type 1

A5

Digital-In (DIN) 3

Slow, isolated, sink, type EN 61131-2 type 1

A6

Digital-In (DIN) 4

Slow, isolated, sink, type EN 61131-2 type 1

A7

Digital-In (DIN) 5

Slow, isolated, sink, type EN 61131-2 type 1

A8

Digital-In (DIN) 6

Slow, isolated, sink, type EN 61131-2 type 1

A9

Digital-In (DIN) 7

Slow, isolated, sink, type EN 61131-2 type 1

A10

Digital-In (DIN) 8

Slow, isolated, sink, type EN 61131-2 type 1

A11

SIN1 STO-A-A1

Slow, isolated, sink, fail-safe, functional safety input 1 STO axis 1 channel A
 

B1

Analog-Out (AOUT) 1

Analog Output, 0 to +10 V

B2

AGND

Ground for analog I/O

B3

+24 V

+24 VDC for digital I/O and STO

B4

DGND

Ground for digital I/O and STO

B5

Digital-Out (DOUT) 9 +

Relay contact, normally open, 24 VDC, 1A

B6

Digital-Out (DOUT) 9 -

Relay contact, normally open, 24 VDC, 1A

B7

Digital-Out (DOUT) 1 / SOUT1

Isolated, high-side, 100 mA safety: 172 mA, safe output

B8

Digital-Out (DOUT) 2 / SOUT2

Isolated, high-side, 100 mA safety: 172 mA, safe output

B9

Digital-Out (DOUT) 3 / SOUT3

Isolated, high-side, 100 mA safety: 172 mA, safe output

B10

Digital-Out (DOUT) 4 / SOUT4

Isolated, high-side, 100 mA safety: 172 mA, safe output

B11

SIN2 STO-B-A1

Slow, isolated, sink, fail-safe, functional safety input 2 STO axis 1 channel B

*Feedback 4 connectivity, Step/Direction CW/CCW (input)

Pin

 Signal Description

A3

Step, CW

Fast, isolated, sink, type EN 61131-2 type 1

A4

Direction, CCW

Fast, isolated, sink, type EN 61131-2 type 1

X22: I/O, EEO2, Feedback 5

Digital I/O connectivity

Pin

 Signal Description

A12

SIN3 STO-A-A2

Slow, isolated, sink, fail-safe, functional safety input 3 STO axis 2 channel A

A13

Digital-In (DIN) 9

Slow, isolated, sink, type EN 61131-2 type 1

A14

Digital-In (DIN) 10

Slow, isolated, sink, type EN 61131-2 type 1

A15

Digital-In (DIN) 11

Slow, isolated, sink, type EN 61131-2 type 1

A16

Digital-In (DIN) 12

Slow, isolated, sink, type EN 61131-2 type 1

A17

AGND

Ground for analog I/O

A18

Analog-In (AIN) 2+

Analog Input, +/- 10 V

A19

Analog-In (AIN) 2-

A20*

Digital-In/Out (DIO) 1 +

RS485 input or output

A21*

Digital-In/Out (DIO) 1 -

RS485 input or output
 

B12

SIN4 STO-B-A2

Slow, isolated, sink, fail-safe, functional safety input 4 STO axis 2 channel B

B13

Digital-Out (DOUT) 5

Isolated, high-side, 100 mA

B14

Digital-Out (DOUT) 6

Isolated, high-side, 100 mA

B15

Digital-Out (DOUT) 7 +

Fast, isolated, sink or source, 100 mA

B16

Digital-Out (DOUT) 7 -

B17

Digital-Out (DOUT) 8 +

Fast, isolated, sink or source, 100 mA

B18

Digital-Out (DOUT) 8 -

B19

Analog-Out (AOUT) 2

Analog Output, 0 to +10 V

B20*

Digital-In/Out (DIO) 2 +

RS485 input or output

B21*

Digital-In/Out (DIO) 2 -

RS485 input or output

*Feedback 5 (input)

Pin

Increm.
Encoder

Step/
Dir

CW/
CCW

BiSS C
EnDAT 2.2

SSI

A20

Track A +

Step +

CW +

CLK+

CLK+

A21

Track A -

Step -

CW -

CLK-

CLK-

B20

Track B +

Dir +

CCW +

DAT+

DAT+

B21

Track B -

Dir -

CCW -

DAT-

DAT-

*EEO2 (output)

Pin

Increm.
Encoder

A20

A+

A21

A -

B20

B+

B21

B -

X23: I/O, EEO1, Feedback 3

Feedback 3 connectivity (input)

    Resolver BiSS EnDat HIPERFACE Sin/

Sin/
Cos

 Incr. Incr. Enc. Hall
 SSI Step/ CW/
Pin SFD B C 2.1 2.2 Cos +Hall Enc. +Hall     Dir CCW
1 - - - - - - - - Hall U - Hall U Hall U - - -
2 - - CL+ CL+ CL+ CL+ - - Hall V - Hall V Hall V CL+ - -
3 - - CL- CL- CL- CL- - - Hall W - Hall W Hall W CL- - -
4 S+ - S+ S+ S+ S+ S+ S+ S+ S+ S+ - - - -
5 S- - S- S- S- S- S- S- S- S- S- - - - -
6 COM+ R1 Ref+ D+ D+ D+ D+ D+ Z+ Z+ Z+ Z+ - D+ - -
7 COM- R2 Ref- D- D- D- D- D- Z- Z- Z- Z- - D- - -
8 - Th+ Th+ - Th+ - Th+ Th+ Th+ Th+ Th+ Th+ Th+ Th+ Th+
9 - Th- Th- - Th- - Th- Th- Th- Th- Th- Th- Th- Th- Th-
10 +5 V - +5 V +5 V +5 V +5 V 8 to 9 V +5 V +5 V +5 V +5 V +5 V +5 V +5 V +5 V
11 0 V - 0 V 0 V 0 V 0 V 0 V 0 V 0 V 0 V 0 V 0 V 0 V 0 V 0 V
12 - S1 SIN+ A+ - A+ - SIN+ A+ SIN+ A+ A+ - - Step+ CW+
13 - S3 SIN- A- - A- - SIN- A- SIN- A- A- - - Step- CW-
14 - S2 COS+ B+ - B+ - COS+ B+ COS+ B+ B+ - - Dir+ CCW+
15 - S4 COS- B- - B- - COS- B- COS- B- B- - - Dir- CCW-

CL = CLOCK, D = DATA, S = SENSE, Th = Thermal control, Z = Zero

█ = DC Terminated, can be overridden with DIO#.TERM

█ = Optional

EEO1 connectivity (output)

Pin

Incremental Encoder

6

Zero+

7

Zero-

11

0 V

12

A +

13

A-

14

B+

15

B-

Digital I/O connectivity

Pin

Digital I/0

2

Digital-In/Out 6 +

3

Digital-In/Out 6 -

6

Digital-In/Out 5 +

7

Digital-In/Out 5 -

10

+5 V

11

0 V

12

Digital-In/Out 3 +

13

Digital-In/Out 3 -

14

Digital-In/Out 4 +

15

Digital-In/Out 4 -

X41: SFA Feedback converter, EEO3/EEO4 EXX3/EXX4 (accessory)


Feedback 1/2 connectivity (input)

X41 SFD Resolver BiSS EnDat HIPERFACE Sin / Sin / Cos Incr. Enc. Incr. Enc. Hall SSI
Pin
   (1) B C 2.1 2.2 Cos
 +Hall
 +Hall

 
1 - - - - - - - - Hall U - Hall U Hall U -
2 - - CL+ CL+ CL+ CL+ - - Hall V - Hall V Hall V CL+
3 - - CL- CL- CL- CL- - - Hall W - Hall W Hall W CL-
4 S+ - S+ S+ S+ S+ S+ S+ S+ S+ S+ - -
5 S- - S- S- S- S- S- S- S- S- S- - -
6 COM+ R1 Ref+ D+ D+ D+ D+ D+ Z+ Z+ Z+ Z+ - D+
7 COM- R2 Ref- D- D- D- D- D- Z- Z- Z- Z- - D-
8 - Th+ Th+ - Th+ - Th+ Th+ Th+ Th+ Th+ Th+ Th+
9 - Th- Th- - Th- - Th- Th- Th- Th- Th- Th- Th-
10 +5 V - +5 V +5 V +5 V +5 V 8 to 9 V +5 V +5 V +5 V +5 V +5 V +5 V
11 0 V - 0 V 0 V 0 V 0 V 0 V 0 V 0 V 0 V 0 V 0 V 0 V
12 - S1 SIN+ A+ - A+ - SIN+ A+ SIN+ A+ A+ - -
13 - S3 SIN- A- - A- - SIN- A- SIN- A- A- - -
14 - S2 COS+ B+ - B+ - COS+ B+ COS+ B+ B+ - -
15 - S4 COS- B- - B- - COS- B- COS- B- B- - -

CL = CLOCK, D = DATA, S = SENSE, Th = Thermal control, Z = Zero

(1) : Resolver with AKD2G-CON-SFA-R00 only, all other feedback devices with AKD2G-CON-SFA-E00 only

█ = DC Terminated, can be overridden with "DIO#.TERM"

█ = Optional

EEO3 / EEO4 Connectivity (output)

X41 Pin
 Incremental Encoder
6 Zero+
7 Zero-
11 0 V
12 A +
13 A-
14 B+
15 B-