5.8 EtherCAT variant pinout 25
5.8.1 EtherCAT input and output connector 26
6 Wiring and Connections 27
6.1 Power supply wiring 28
6.1.1 How to dimension the power supply 28
6.1.2 Recommended power supply connection 29
6.1.3 Simplified battery supply connection 30
6.1.4 Connection of multiple drivers 30
6.1.5 Power supply wiring recommendations 31
6.2 Motor output wiring 32
6.2.1 AC and DC brushless motors 32
6.2.2 DC motors and voice coils actuators 33
6.2.3 Stepper motors 33
6.2.4 External shunt resistor 34
6.2.5 Motor wiring recommendations 37
6.3 Feedback connections 39
6.3.1 Digital encoder interface 39
6.3.2 Digital Halls interface 43
6.3.3 Analog Halls interface 45
6.3.4 Analog input feedback - Potentiometer 46
6.3.5 PWM encoder interface 49
6.3.6 DC tachometer 52
6.3.7 Feedback wiring recommendations 52
6.4 IO connections 53
6.4.1 Low speed (LS) single ended digital inputs interface 54
6.4.2 High speed (HS) digital inputs interface 56
6.4.3 Analog inputs interface 59
6.4.4 Digital outputs interface 61
6.4.5 Torque off input 65
6.5 Command sources 66
6.5.1 Network interface 67
6.5.2 Standalone 67
6.5.3 Analog input 67
6.5.4 Step and direction 68
6.5.5 PWM command 69
6.5.6 Encoder following or electronic gearing 72
6.6 Communications 73
6.6.1 CAN interface 74
6.6.2 USB interface 76
6.6.3 EtherCAT interface 76
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