Ethercat communication terminal:
The Ethercat cable for the Ethercat bus should not exceed 100 meters in length. It is recommended to use Category 5e 100 Mbps Ethernet cable with dual shielding or higher-grade cables.
(1) Power terminal and motor winding terminal
| Name | Pin | Function |
| VDC | 1 | Positive pole of DC power supply; supply voltage range: DC 24~80Vdc, recommended 24Vdc or 36Vdc operation |
| GND | 2 | DC power ground |
| A+ | 3 | Stepper Motor A+ Phase Winding Interface |
| A-/U | 4 | Stepper motor A-phase winding interface (or 3-phase motor's U ) |
| B+/V | 5 | Stepper motor B+ phase winding interface (or 3-phase motor's V ) |
| B-/W | 6 | Stepper motor B-phase winding interface (or 3-phase motor's W ) |
(2) Encoder interface
| EZ- | 1 | Encoder Z signal differential input interface negative terminal(open-loop stepping not connected). |
| EZ+ | 2 | Encoder Z signal differential input interface positive terminal(open-loop stepping not connected). |
| EB- | 3 | Encoder B signal differential input interface negative terminal(open-loop stepping not connected). |
| EB+ | 4 | Encoder B signal differential input interface positive terminal (open-loop stepping not connected). |
| EA- | 5 | Encoder A signal differential input interface negative terminal(open-loop stepping not connected). |
| EA+ | 6 | Encoder A signal differential input interface positive terminal (open-loop stepping not connected). |
| GND | 7 | Provide DC voltage to the negative of motor encoder |
| 5V | 8 | Provide 5V DC voltage and 100mA current to the motor encoder. |
(1) The encoder power supply is provided by the driver internally at 5V, but it is necessary to pay attention that if the polarity of the encoder power supply line is reversed, the stepper motor or the driver will be damaged.
(2) The encoder generates a 5V differential signal, which is processed internally by a differential chip and then sent to the main controller. The interface voltage here is only 5V, and exceeding 5V will damage the stepper driver.
(3) Control signal
| Name | Pin | Function |
| IN0- | 1 | Digital input signal 0, compatible with 4.5-28VDC |
| IN1- | 2 | Digital input signal 1, compatible with 4.5-28VDC |
| IN2- | 3 | Digital input signal 2, compatible with 4.5-28VDC |
| IN3- | 4 | Digital input signal 3, compatible with 4.5-28VDC |
| IN+ | 5 | Connect to the positive terminal of the digital input signal, compatible with 4.5-28VDC |
| OT- | 6 | Digital output signal 0 negative terminal, maximum input voltage 24Vdc, input resistance 2KΩ, maximum output current 100mA |
| OT0+ | 7 | Digital output signal 0 positive terminal, maximum input voltage 24Vdc, input resistance 2KΩ, maximum output current 100mA |
| OT1+ | 8 | Digital output signal 1 positive port, maximum input voltage 24Vdc,input resistance 2KΩ, maximum output current 100mA |
Default input ports: IN0, IN1, IN2, IN3
IN0-: Negative limit (corresponding to Bit0 in parameter 0x60FD)
IN1-: Positive limit (corresponding to Bit1 of parameter 0x60FD)
IN2-: Origin (corresponding to Bit2 of parameter 0x60FD)
IN3-: Reserved
Default output ports: OT0, OT1
OT0+: Alarm output
OT1+: Position output (default) / Brake output (brake wiring diagram shown below
Output port note:
(1) The external power supply is provided by the user, but it is necessary to pay attention that if the polarity of the power supply is reversed, the stepper driver will be damaged.
(2) The output is a collector open circuit configuration with a maximum current of 50mA and an external power supply voltage of 25V. Therefore, the load of the switch output signal must meet these specifications. Exceeding these limits or directly connecting the output to the power supply may damage the stepper driver.
(3) If the load is an inductive load such as a relay, a reverse parallel current flow diode must be connected across the load. If the current flow diode is connected in reverse, the stepper driver will be damaged.
(4) Ethercat bus communication interface
| Name | Pin | Features |
| TX+ | 1 | Ethercat data transmission positive port | Ethercat IN(ECAT OUT) |
| TX- | 2 | Ethercat data transmission negative port |
| RX+ | 3 | Ethercat data receiving positive port |
| NC | 4 | Not connected |
| NC | 5 | Not connected |
| RX- | 6 | Ethercat data receiving negative port |
| NC | 7 | Not connected |
| NC | 8 | Not connected |
| TX+ | 9 | Ethercat data transmission positive port | Ethercat OUT(ECAT IN) |
| TX- | 10 | Ethercat data transmission negative port |
| RX+ | 11 | Ethercat data transmission positive port |
| NC | 12 | Not connected |
| NC | 13 | Not connected |
| RX- | 14 | Ethercat data receiving negative port |
| NC | 15 | Not connected |
| NC | 16 | Not connected |
