4.2 Electrical connection
4.2.5 Connector pin assignment
4.2.5.2 Pin assignment of the motherboard (motor side)
Tab. 11: Pin assignment of the BL motor connection (M1)
Tab. 12: Electrical data of the motor connection (M1)
Sensor connection (M2)
Tab. 13: Pin assignment of the sensor connection (M2)
Tab. 14: Electrical data of the sensor connection (M2)
Pin Designation Meaning
1 Motor A Connection of motor, phase A
2 Motor B Connection of motor, phase B
3 Motor C Connection of motor, phase C
Designation Value
Motor power supply 0...Umot Max. 4/12 A 100 kHz
Pin Designation Meaning
1 UDD Power supply for sensors
2 GND Ground connection
3 Sens A Hall sensor A
4 Sens B Hall sensor B
5 Sens C Hall sensor C
Designation Value
Sensor power supply 5 V
<100 mA
Sensor connection <5 V
Encoder connection (M3)
The pin assignment of the encoder connector varies depending on the encoder type.
Incremental encoder with or without line driver
Absolute encoder with or without line driver.
Tab. 15: Pin assignment for incremental encoder with line driver (M3)
Tab. 16: Electrical data for incremental encoder with line driver (M3)
Tab. 17: Pin assignment for incremental encoder without line driver (M3)
Pin Designation Meaning
1 UDD Power supply for incremental encoder
2 GND Ground connection
3 Channel A Encoder channel A (logically inverted sig-nal)
4 Channel A Encoder channel A
5 Channel B Encoder channel B (logically inverted sig-nal)
6 Channel B Encoder channel B
7 Index Encoder index (logically inverted signal)
8 Index Encoder index
Designation Value
Power supply for incremental encoder
5 V
<100 mA Connection of the incremental
encoder
<5 V
<2 MHz 5 kΩ
Pin Designation Meaning
1 UDD Power supply for incremental encoder
2 GND Ground connection
3 Channel A n.c.
4 Channel A Encoder channel A
5 Channel B n.c.
6 Channel B Encoder channel B
7 Index n.c.
8 Index Encoder index
Tab. 18: Electrical data for incremental encoder without line driver (M3)
Tab. 19: Pin assignment for absolute encoder with line driver (M3)
Tab. 20: Electrical data for absolute encoder with line driver (M3)
Tab. 21: Pin assignment for absolute encoder without line driver (M3)
Designation Value
Power supply for incremental encoder
5 V
<100 mA Connection of the incremental
encoder
<5 V
<2 MHz 5 kΩ
Pin Designation Meaning
1 UDD Power supply for absolute encoder
2 GND Ground connection
3 CS Chip Select for absolute encoder (logically inverted signal)
4 CS Chip Select for absolute encoder
5 Data Data for absolute encoder (logically inverted signal)
6 Data Data for absolute encoder
7 CLK Clock for absolute encoder (logically inverted signal)
8 CLK Clock for absolute encoder
Designation Value
Absolute encoder power supply 5 V
<100 mA Connection Chip Select 5 V
Connection data <5 V
5 kΩ
Connection clock 5 V
1 MHz
Pin Designation Meaning
1 UDD Power supply for absolute encoder
2 GND Ground connection
3 CS n.c.
Tab. 22: Electrical data for absolute encoder without line driver (M3)
Motor + sensor connection (M1_1)
Tab. 23: Pin assignment of motor + sensor combination connector (M1_1)
Tab. 24: Electrical data of motor + sensor connection (M1_1)
Designation Value
Absolute encoder power supply 5 V
<100 mA Connection Chip Select 5 V
Connection data <5 V
5 kΩ
Connection clock 5 V
1 MHz
Pin Designation Meaning
1 Motor C Connection of motor, phase C
2 Motor B Connection of motor, phase B
3 Motor A Connection of motor, phase A
4 GND Ground connection
5 UDD Power supply for sensors
6 Sens C Hall sensor C
7 Sens B Hall sensor B
8 Sens A Hall sensor A
Designation Value
Motor power supply 0...Umot Max. 4/12 A 100 kHz
Sensor power supply 5 V
<100 mA
Sensor connection <5 V
COM port (X2)
The pin assignment at the COM port differs according to the type of communication. The distinction is made between the following types of communication:
RS232
CANopen
Tab. 25: Pin assignment of the COM port (X2) for RS232
Tab. 26: Pin assignment of CAN (X2_1) with CANopen
Pin Designation Meaning
1 TxD RS232 interface transmit direction
2 RxD RS232 interface receive direction
3 GND Ground
Pin Designation Meaning
1 CAN-H CAN-High interface
2 CAN-L CAN-Low interface
3 GND Ground
4.2.5.3 Pin assignment of the motherboard (supply side) I/O connection (X3)
Tab. 27: Pin assignment of the I/O connection (X3)
Tab. 28: Electrical data for the I/O connection (X3)
Pin Designation Meaning
1 UDD Power supply for external consumer loads
2 GND Ground connection
3 DigOut 1 Digital output (open collector) 4 DigOut 2 Digital output (open collector)
5 GND Ground connection
6 DigIn 1 Digital input
7 DigIn 2 Digital input
8 DigIn 3 Digital input
9 DigIn 4 Digital input
10 AnIn 1 Analogue input
11 AnIn 2 Analogue input
12 AGND Ground connection for analogue inputs
Designation Value
Power supply for external consumer load
5 V
<100 mA
DigOut low = GND
high = high resistance 47 kΩ
STO connection (X6)
Tab. 29: Pin assignment of the STO connection (X6)
Tab. 30: Electrical data for the STO connection (X6)
Voltage supply of the motor + controller (X5)
Tab. 31: Pin assignment of the voltage supply of the motor + controller (X5)
Pin Designation Meaning
1 STO Out 2 Error STO error message (ok/nok) 2 STO Out 1 Status STO status message (active/inactive) 3 STO GND Ground connection for STO output 4 STO 24V In Supply of the STO outputs 5 STO GND 2 Ground connection for STO input 2
6 STO In 2 Signal STO 2
7 STO GND 1 Ground connection for STO input 1
8 STO In 1 Signal STO 1
Designation Value
STO 24V In 24 V, max. 50 mA
STO Out1 Status
low <7 V high > 11.5 V STO Out2 Error
STO GND 1 STO GND 2 STO In 1 STO In 2
Pin Designation Meaning
1 GND Ground connection
2 UB Power supply of the motor + controller
8 6 4 2
7 5 3 1
4.2.6 Motherboard: connection at the motor side
Fig. 19: BL/LM motor with Hall sensors
Connection M1_1 can be used as an alternative to the combination of connections M1 and M2.
Sens A Hall Sensor A Motor B
Motor C
GND GND
Sens B Hall Sensor B Sens C Hall Sensor C
+5 V Power Supply UDD
Motor Phase A Motor Phase B Motor Phase C
M1_1
Fig. 20: BL motor with Hall sensors and incremental encoders
Sens A Hall Sensor A Motor B
Motor C
GND GND
Sens B Hall Sensor B Sens C Hall Sensor C
+5 V Power Supply UDD Channel B Encoder Channel B Channel B Encoder Channel B Channel A Encoder Channel A Channel A Encoder Channel A
Encoder UDD +5 V Encoder Supply
GND GND
M1_1
Fig. 21: BL motor with Hall sensors and absolute encoders
Sens A Hall Sensor A Motor B
Motor C
GND GND
Sens B Hall Sensor B Sens C Hall Sensor C
+5 V Power Supply UDD
4.2.7 I/O circuit diagrams
4.2.7.1 Inputs
Analogue input
Fig. 22: Analogue input circuit diagram (internal)
The analogue inputs are executed as differential inputs. Both inputs use the same reference input.
The analogue inputs can be used flexibly:
Specification of set values for current, speed or position
Connection of actual value encoders for speed or position
Use as a free measurement input (queried via the interface) Digital input
Fig. 23: Digital input circuit diagram (internal)
The digital inputs are switchable from the input level (PLC/TTL). The digital inputs can be So that the voltage drop on the supply side does not affect the speed specification value, connect the analogue input ground (AGND) to the power supply ground (GND).
AnIn
AGND –
+
A D
In Dig-In
STO inputs DANGER! DANGER
The safety function of the Motion Controller is not ensured if connected incorrectly.
Observe the safety information in chap. 4.2.1, p. 28 and chap. 2.2.2, p. 10.
WARNING! WARNING
Unexpected startup of the drive or shutdown of the torque.
Because there is no redundancy when the circuit of the two STO inputs is bridged, there is a risk of serious injury or death.
Bridged circuit (see Fig. 24) is only to be used for applications up to Performance Level c (PL a, PL b, PL c).
For applications with Performance Level d or higher (PL d, PL e) that use redundant cir-cuitry (see Fig. 25).
Fig. 24: Circuit diagram of bridged STO inputs 1 and 2 STO In
STO 1
STO 2 STO GND
PL a, PL b, PL c
Fig. 25: Circuit diagram of redundantly connected STO inputs 1 and 2
The following properties must be taken into account when connecting the STO inputs:
Input type: Type 3 acc. to DIN EN 61131-2
Protective separation: The inputs are electrically isolated from each other and from other circuits
Isolation voltage: Max. 110 V DC
Typical standby current per channel: 3 mA
Delay when changing from low to high and from high to low: <5 ms (typically 1 ms)
Evaluation of the input signals: Static evaluation. A change has immediate effect.
Design for test pulses: OSSD test pulses with a maximum test pulse duration of 400 μs and a maximum test pulse cycle of 100 ms
Current-voltage characteristics: see Fig. 26 STO In 1
STO GND 1 STO In 2
STO GND 2
PL a, PL b, PL c, PL d, PL e
Fig. 26: Input characteristic curve for STO In
4.2.7.2 Outputs Digital output
Fig. 27: Digital output circuit diagram (internal) The digital output has the following properties:
Open collector switch to ground
Monitored output current (switch opens in the event of an error)
I (mA)
STO outputs DANGER! DANGER
The safety function of the Motion Controller is not ensured if connected incorrectly.
Observe the safety information in chap. 4.2.1, p. 28 and chap. 2.2.2, p. 10.
Fig. 28: Circuit diagram for the Status and No-Error STO outputs The STO outputs are redundantly linked via the LED:
LED illuminates: Low-impedance state of the outputs with 24 V as reference
LED does not illuminate: High-impedance state of the outputs with 24 V as reference The following properties must be taken into account when connecting the STO outputs:
Protective separation:
The outputs are not electrically isolated from one another. The inputs and the remaining electronics are galvanically isolated from earth.
An external suppressor circuit for the outputs is not necessary.
Power supply:
Common voltage supply with 24 V via the STO 24V In connection.
The supply line of the outputs must be protected against overcurrent. The provided plug connectors must be taken into account for the dimensioning.
Isolation voltage: The outputs are designed according to overvoltage category III for an isolation voltage of 800 V.
Output current:
The output current for both channels is <50 ma (short-circuit current STO Out Status and STO Out Error).
Each channel is limited to approx. 20 mA (<25 mA).
Status 24 V / No-Error 24 V
STO Status / STO No-Error
Fig. 29: Output characteristic curve for STO Out Status
4.2.8 External circuit diagrams
Bipolar analogue set value specification via potentiometer
I (mA)
Analogue set value specification via potentiometer with internally set offset and scaling
Fig. 31: Analogue set value specification via potentiometer with internally set offset and scaling
Connection of reference and limit switches
– 10k +
Motion Controller
AnIn AGND
Interface
Ref UP
GND GND
UP UDD
1k 1k
Interface Limit Switch
Motion Controller
DigIn X DigIn Y GND
GND GND
UP
UP
Connection of an external incremental encoder
Fig. 33: Connection of an external incremental encoder
Wiring between PC/control and a drive during RS232 operation
Fig. 34: Wiring between PC/control and a drive during RS232 operation
Depending on the type of encoder it may be necessary to use additional pull-up resis-tors. No internal pull-up resistors are incorporated in the Motion Controller.
2,7k
Interface
Quadrature Counter A
A B
Index B
Index
DigIn2
DigIn3 Encoder
UDD
GND UP
DigIn1
PC or High Level Control
Node 1
TxD
RxD RxDTxD GNDGND(D-Sub9 Pin 2) (D-Sub9 Pin 3) (D-Sub9 Pin 5)
Wiring with several Motion Control Systems in RS232 network operation
Fig. 35: Wiring with several Motion Control Systems in RS232 network operation
Connection to the CANopen network
Fig. 36: Connection to the CANopen network
Depending on the number of networked controllers a smaller value may be necessary for the pull-down resistor.
If the CAN wiring is not laid in a straight line it may be necessary to individually opti-mise the amount and location of the terminating resistors. For instance in a star net-work a central 60 Ohm terminating resistor may be more suitable. When the optimum
PC or High Level Control
4,7k
Node 1 Node n
TxD
TxD
RxD RxDRxDTxD GNDGNDGND(D-Sub9 Pin 2) (D-Sub9 Pin 3) (D-Sub9 Pin 5)
Node 1
CAN Bus Line
Node n
GND CAN_H
CAN_L
120 120
Connection of the STO safety control
Fig. 37: Connection of the STO safety control
Safety Control Node 1 Node n
STO IN 1 STO IN 2
STO OUT 2 Error STO OUT 1 Status
STO 24 V IN