Indel GIN-AX4 User manual

Hardware Manual
Indel motion boards
Made in Switzerland
Rev 1.31 © Indel AG, 04/11/2013
Language: English

Table of contents Indel motion boards
Tabel of contents
1 Description ....................................................................................................................4
1.1 Position controller..........................................................................................................................4
1.2 Assembly groups............................................................................................................................5
2 Safety notes ...................................................................................................................6
2.1 General safety notes......................................................................................................................6
2.2 Safety requirements.......................................................................................................................7
2.2.1 Risk analysis.....................................................................................................................................7
2.2.2 24V DC power supply.......................................................................................................................8
2.2.3 48V DC power supply (motor supply)..............................................................................................8
2.2.4 EMV..................................................................................................................................................8
2.2.5 Commissioning.................................................................................................................................8
2.2.6 Intended use.....................................................................................................................................8
2.2.7 Plug-in connections..........................................................................................................................9
2.2.8 Responsibility...................................................................................................................................9
3 Technical details ..........................................................................................................10
3.1 Technical details for motion boards...........................................................................................10
3.2 Technical details for connector boards......................................................................................17
3.2.1 MAX-DBIT......................................................................................................................................17
3.2.2 MAX-DBMT....................................................................................................................................18
3.3 Dimensions, pin assignment.......................................................................................................19
3.3.1 Dimensions of AX4.........................................................................................................................19
3.3.2 Pin arrangement for AX4 board......................................................................................................20
3.3.3 Pin assignment for digital inputs and outputs in AX4.....................................................................21
3.3.4 Pin assignment for supplies and interfaces in AX4........................................................................22
3.3.5 Pin assignment for AX4 encoder systems.....................................................................................23
3.3.6 Pin assignment for motors in AX4..................................................................................................26
3.3.7 Dimensions of MAX boards............................................................................................................28
3.3.8 Pin assignment for MAX-2,4...........................................................................................................35
3.3.9 Pin assignment for MAX-2..............................................................................................................36
3.3.10 Pin assignment for MAX-4..............................................................................................................37
3.3.11 Supplies to MAX boards.................................................................................................................38
4 Serial interface ............................................................................................................39
5 Connection examples..................................................................................................40
5.1 Motors on MAX2 board................................................................................................................40
5.2 Wiring of digital inputs and outputs...........................................................................................42
6 Installation....................................................................................................................43
6.1 Cooling and ventilation................................................................................................................44
6.1.1 Notes on UL directive.....................................................................................................................45
6.1.2 Braking resistance..........................................................................................................................45
7 Operation .....................................................................................................................46
Page 2/54 Rev 1.31 © 04/11/2013

Table of contents Indel motion boards
7.1 Braking resistor............................................................................................................................46
7.2 Motion boards with an ethernet interface..................................................................................46
8 Fieldbus systems.........................................................................................................47
8.1 GinLink ..........................................................................................................................................47
8.2 INFO-Link.......................................................................................................................................48
8.3 Error messages ............................................................................................................................49
8.4 Warnings........................................................................................................................................49
9 Sales and service.........................................................................................................50
9.1 Manufacturer ................................................................................................................................50
9.2 Maintenance, cleaning, repair.....................................................................................................50
9.3 Transport and storage..................................................................................................................50
9.4 Disposal.........................................................................................................................................50
9.5 Declaration of conformity............................................................................................................51
10 List of figures...............................................................................................................53
11 Document status..........................................................................................................54
Page 3/54 Rev 1.31 © 04/11/2013

Description Indel motion boards
1 Description
MAX boards offer extremely flexible possibilities for motor control. There are various versions with 2 ...
10 motor output stages, PWM outputs, encoder, resolver, SinCos inputs, etc. available.
The units feature various analogue and digital inputs and outputs alongside the motor output stages.
The MAX boards are capable of controlling entire machines.
1.1 Position controller
PID controller
The user has access to 3 different PID2 parameter sets (forwards, backwards,
stand-by). This allows changes in load to be dealt with
in the best possible way.
Filter
Up to 4 bi-quad filters can be configured per axis.
Computational power
The PowerPC 405-300MHz assumes the following tasks in a 8 ... 32kHz cycle:
●PID position controller, speed regulation, active current regulation
●2. Target value: torque regulation
●Measuring wheel correction (inc encoder)
●Limitation for: IMAX, I2t , controller, motor temperatures
●Logger for 64 freely selectable parameters
●Customer-specific application
●Filter calculation
Position detection
●Resolver: single or multi-pole, 16-bit resolution per resolver revolution
●SinCos encoder: 4096 periods per revolution, 16-bit resolution
●Incremental encoder: up to 20,000 increments (incl. 4Q resolution)
●SSI, Endat, Hiperface interface
Operational safety
Page 4/54 04/11/2013; Rev 1.31
Figure 1.1: Block wiring diagram, MAX4 motion board
Full bridge 2
Full bridge 4
Full bridge 3
Full bridge 1
16 digital
Inputs
16 digital
Outputs
14 analog
Inputs
4 analog
Outputs
PowerPC
405
FPGA
Motor
Power
Supply
24 ... 48V
Peripherie
Power
Supply
24V
Logic
Supply
24V
Serial
Interface

Indel motion boards Description
A number of variables are continually monitored within the motion boards: short-circuit monitors switch
off the controller in the case of motor or ground short-circuit.
Rapid overcurrent cut-outs protect the motor and output stage within the individual phases. These
intervene when the drive is stuck or is stopped suddenly.
The motor and output stage are monitored for overheating.
1.2 Assembly groups
Order no. Type Description
611041900 GIN-AX4 4/2 Axis Board with C96-PPC-Card4, 16 Input, 16 Output
610838600 GIN-MAX10 Multiaxis DC-Motor Module, 6x2.5A, 4x1.25A,
16 Out 24V 2A, 16 Inp 24V, 4 Analogue Input
610636340-4x2.5A GIN-MAX4 Multi-Axes Board, 4 x 3-Phase 48V/2.5A, 16x24V/2A IO,
14 x Analog Input +-10V, 4 x Analog Out +-10V
610636341-2x5A GIN-MAX4 Multi-Axis Board, 2 x 3-Phase 48V/5A, 16x24V/2A IO,
14 x Analog Input +-10V, 4 x Analog Out +-10V
610636300-4x2.5A INFO-MAX4 Multi-Axes Board, 4 x 3-Phase 48V/2.5A, 16x24V/2A IO,
14 x Analog Input +-10V, 4 x Analog Out +-10V
610636301-2x5A INFO-MAX4 Multi-Axis Board, 2 x 3-Phase 48V/5A, 16x24V/2A IO,
14 x Analog Input +-10V, 4 x Analog Out +-10V
610535700 MAX2-DBIT Distribution Board for MAX-2
610636400 MAX4-DBIT Distribution Board for MAX-4
610636501 MAX-DBMT Distribution Board for MAX Boards with 2 Resolvers
Inputs and 2 PWM 48V/3Aoutputs resistant to short-circuiting
Rev 1.31; 04/11/2013 Page 5/54

Safety notes Indel motion boards
2 Safety notes
Questions
These safety notes do not claim to be exhaustive. Please call us if you have any questions or
problems. (Tel. [phone])
2.1 General safety notes
Documentation
Please read this documentation fully before installation and commissioning. Incorrect handling of the
modules can lead to personal injury or property damage. Ensure that the technical details and
information on connection conditions are complied with.
Qualified personnel
Only qualified specialist personnel may carry out work such as transport, assembly, installation,
commissioning, servicing and maintenance.
National accident prevention regulations must be observed.
ESD protection
The modules contain components that are sensitive to static charge, and that can be damaged
through improper handling. Discharge the static from your body before touching the modules. Avoid
contact with highly insulating materials (artificial fibres, plastic film, etc.). Place the modules on a
conductive surface in a voltage-free state.
Do not touch the plug connector contacts on the drive and the connected cables, or contact pins on
conductors.
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Indel motion boards Safety notes
2.2 Safety requirements
2.2.1 Risk analysis
The machine manufacturer must compile a risk analysis for the machine and take suitable measures
to ensure that unforeseen movements do not cause damage to persons or property.
Notes on possible risks are also provided in other places throughout this document. All notes on risks,
warnings, precautions and information must be observed.
Run-on
If application-dependent risks arise due to run-on, additional protective measures (e.g. moveable
covers with locking) must be taken to cover the danger zone until such a time that the risk to persons
or property no longer exists.
It must be noted that run-on of the drive is possible without a mechanical brake or defective brake. The
securing brake is not safely controlled by the Indel servo drives. (Active output)
Braking resistance
The braking resistor is not safely controlled by the Indel servo drives. Adefective or incorrectly
connected braking resistor will result in the motor not stopping within the expected time span. In
unfortunate cases, this can lead to personal injury or property damage.
Protection from dangerous movements
Incorrect control of motors can trigger unwanted and dangerous movements.
Such behaviour may be caused by, for example:
●Faulty installation
●Faulty configuration
●Faulty or incomplete wiring
●Defective devices or cables
●Faulty control by the software
Essentially, movement of the motor should be expected as soon as the motion board is switched on.
Protection of persons and the machine can only be guaranteed by means of overarching safety
measures.
Suitable measures must be taken to ensure that the movement zone of machines are protected
against unintentional access by persons.
Removing, bypassing or circumventing the safety mechanisms is strictly prohibited.
Plenty of easily accessible emergency stop switches must be available in and around the machine.
Suspended loads
In the case of suspended loads, additional measures must be taken to ensure that the axis stays in
place. The Indel servo drives do not offer outputs that allow you to safely control securing brakes.
Holding brakes do not offer any protection when slowing down the motor.
Rev 1.31; 04/11/2013 Page 7/54

Safety notes Indel motion boards
Further notes
The emergency stop function may not necessarily lead to the energy supply being switched off. Drives
may remain in operation. Protection against touching live parts is therefore not necessarily
guaranteed.
Position switches and actuating controls must be secured against shifting in accordance with EN1088.
The reaction in the event of a power cut must be considered.
2.2.2 24V DC power supply
The motor may spin out in the event of loss of the 24V power supply to the motion board. If this is not
permissible, external measures must be taken to prevent the axis from spinning out.
2.2.3 48V DC power supply (motor supply)
The motor may spin out in the event of loss of the 48V DC power supply to the motors. If the
intermediate circuit voltage UCC falls below the configured limit UCC MIN, the motor control will go into
error mode and the motor will be switched off.
2.2.4 EMV
For EMC-compliant wiring, see the Indel wiring guidelines, as well as the wiring instructions in this
document.
The manufacturer of machines or systems must take additional EMC safety measures
if the product standard applicable to their machine stipulates lower limit values. Additional EMC safety
measures may be required for machines that contain a large number of Indel servo drives. In such
cases, the installation of a central mains filter is usually sufficient.
When using Indel motion boards in residential areas or when connecting Indel motion boards to a low-
voltage network that will supply buildings in residential areas without intermediate transformers,
additional measures must be implemented in order to filter out interference.
2.2.5 Commissioning
Before switching on a motion board, it must be ensured that the unit is correctly connected to the earth
potential. The earth connections must always be put in place, even if the motion board is only being
operated for testing purposes.
The commissioning must be documented and proof of the safety functions must be kept.
2.2.6 Intended use
The Indel motion boards must only be used within the framework specified in this document and other
documents to which it refers.
Intended use is prohibited until it has been established that the machine complies with the provisions
of EC Directive 2006/42/EC (Machinery Directive) and Directive 2004/108/EEC (EMC Directive), or the
relevant current version of said directives. Otherwise, the Indel motion board cannot be marketed.
Additional measures must be taken for use in areas at risk of explosion, such as flame-proof enclosure
in accordance with EN 50014 and EN 50018.
Page 8/54 04/11/2013; Rev 1.31

Indel motion boards Safety notes
2.2.7 Plug-in connections
Plug-in connections must never be plugged in or unplugged when the unit is switched on.
2.2.8 Responsibility
The motion boards are not completely safe from failure, particularly the safety functions. In the event
of failure, the operator is responsible for ensuring that the machine/system is put into a safe condition.
Rev 1.31; 04/11/2013 Page 9/54
All diagnosis and monitoring functions can only interrupt the control of the motor. This
means that the motor becomes currentless and can no longer be controlled or slowed down!
Depending on the application, additional measures are required to slow down or stop the
motor.
The operator is responsible for safety.

Technical details Indel motion boards
3 Technical details
3.1 Technical details for motion boards
Ambient conditions Motion boards
Switch-on interval s > 10
Ambient temperature: Storage °C -20 … 80
Ambient temperature: Operation 1) °C 0 … 45
Heat sink temperature max. °C 80
Relative humidity, no condensation °C 80%
Protection class IP-20
Degree of contamination 2 (EN 50178)
Installation position MAX-Boards(sufficient cooling re-
quired, possibly with fan) any
Installation position GIN-AX4(sufficient cooling requi-
red, possibly with fan) vertical, upright
Vibration as per IEC 68-2-6
Amplitude, frequency response mm Hz 0.35 10 … 120
Shock g 1
Interference emission, industrial zone EN 61000-6-4
Interference resistance, with mains filter, industrial
zone EN 61000-6-2
1) To keep the ambient temperature below 40°C you m ay need to install additional cooling measures
24V logic supply
Logic supply INFO-MAX4
2x5A INFO-MAX4 4x2.5A GIN-MAX4 2x5A GIN-MAX4 4x2.5A GIN-MAX10 GIN-AX4
Operating voltage VDC 24V -5% +15%
Galvanic
isolation no
External fusing,
fast A 8
Max. potential bet-
ween earth and 0V VDC 50
Power consumption at
24V mA 250 250 300 300 300 300
Page 10/54 04/11/2013; Rev 1.31

Indel motion boards Technical details
On-board supplies
Supplies MAX-2,4,10 AX4
Voltage V ± 15 / ± 15%
Power (± 15V supply) mA 50
Voltage V ± 5 / ± 5%
Power (± 5V supply) mA 100
Supply for encoders; voltage V 5 / ± 5% 5 / ± 5%
Power (5V supply) mA 600 600
Supply for logic; voltage V 3.3 / ± 5%
Power (3.3V supply) mA 50
Motors
Motor Motion boards
Minimum inductance mH 1
Minimum resistance Ohm 0.2
Max. Cable length
in the case of cable lengths > 20m use choke 0.5 … 1mH m 20
Min. Cable length in parallel operation of GIN-AX4
Minimum length of the parallel strands of the motor
connections.
m 0.12
Motor temperature monitoring
Bi-metal sensor must be in motor cable
Motor temperature monitoring only for AX4
Bi-metal
KTX-84 100 / 110
PTC
10k GT2
Accuracy of analogue temperature sensors °C ± 2
Motor cable shielded
Motor types:
- Synchronous servo motors and brushless asynchronous motors
- DC motors, linear motors, stepper motors (two coils)
The motors must be designed for operation using digital servo drives
Rev 1.31; 04/11/2013 Page 11/54

Technical details Indel motion boards
MAX boards output stages
Nominal values MAX4
4x2.5A MAX4 2x5A MAX10 AX4 4x5A AX4 2x10A
Number of output stages
(MAX-10 only DC motors) 4 2 10 4 2
Motor supply voltage VDC 15 … 48 0 … 48
Overvoltage cut-off VDC 54
Overheating cut-off °C 80
Max. Output per motor W 100 200 4 x 50
6 x 100 200 400
Irated at 8kHz sampling
rate Arms 2.5 5.0 1.25 / 2.5 5.0 10.0
IMAX at 8kHz sampling rate Arms 2.5 5.0 1.25 / 2.5 5.0 10.0
Irated at 12kHz sampling
rate Arms 2.5 5.0 1.25 / 2.5 5.0 10.0
IMAX at 12kHz sampling
rate Arms 2.5 5.0 1.25 / 2.5 5.0 10.0
Irated at 16kHz sampling
rate Arms 5.0 5.0 10.0
IMAX at 16kHz sampling
rate Arms 5.0 5.0 10.0
IMAX brake FET ADC 5 5 - 10 10
Minimum external braking
resistance
(48V supply)
Ohm 10 10 10 10
External fusing,
triggering characteri-
stic:
Slow, C
A 10 10 10 20 20
Power dissipation W 25 25 25 35 25
Weight Kg
PWM oversampling for motor drive: Sampling rate x2, x3, x4
Iron-less motors run better with PWM oversampling.
Feedback systems
MAX-2/4
total of 4 encoder inputs: 2 incremental encoder inputs, as well as 2 inputs that can be configured as
either an incremental encoder input or a SinCos input.
MAX-10
10 x incremental encoder inputs
AX4 (SinCos)
4 encoder inputs: each encoder input can be configured as an incremental encoder or SinCos
encoder.
Plus 2 digital interfaces for Hiperface, Endat, SSI (motor 1, 3)
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Indel motion boards Technical details
Absolute feedback systems
Digital absolute feedback systems AX4
Number of dig. feedback systems (motor 1, 3) 2
Endat 2.1 
Endat 2.2 a.A.
Synchronous serial interface, max. Telegram length Bit 32
Hiperface 
Biss a.A.
An incremental encoder can also be connected to the absolute feedback inputs.
See section 3.3.5 Pin assignment for AX4 encoder systems
Resolver
Resolver inputs MAX-Boards
with DBMT
connector board
Resolution Bit 16
Reference, bridge circuit Vrms 2
Sine/cosine input Vrms 1
Multi-pole resolvers 
Resolver cable Pair-twisted, double shielded
Number of channels per board 2
Rev 1.31; 04/11/2013 Page 13/54

Technical details Indel motion boards
Incremental encoder
Incremental encoder inputs MAX2,4 AX4 MAX-10
Level RS422 6)
Max. Counting frequency of incremental enco-
der track 1) MHz 2.5 2.5 2.5
Max. Counting frequency for incremental enco-
der at SinCos input 2) kHz 250 -
Max. Counting frequency for incremental enco-
der at absolute feedback system inputs 3) MHz - 2.5 -
Voltage supply for encoders V 5
Power, total for all encoders mA 200 800 200
Encoder cable shielded
Number of channels per board 4 4) 4 5) 10
SinCos encoder
Sin/Cos inputs GIN-MAX2,4
INFO-MAX2,4 AX4
Level: Sine, cosine, reference Vrms 1 1
Differential input resistance Ohm 120 120
Max. Periods / s 1), 2) kHz 200 200
Voltage supply for encoders 5V + 10% / 200mA 5V + 10% / 200mA
Voltage supply for encoders 10V + 10% / 100mA 10V + 10% / 100mA
Encoder cable pair-twisted
double shielded pair-twisted double shielded
Number of channels per board 3) 2 4
Page 14/54 04/11/2013; Rev 1.31
1) Example: Incremental encoder with 0.1µm resolution (with 4-quadrant resolution) can be moved at 10m/s. A safety factor
of 2 has already been included.
2) Example: Incremental encoder with 1µm resolution (with 4-quadrant resolution) can be moved at 10m/s. A safety factor of
2 has already been included.
3) On theAX board, rapid digital encoders can be connected to the absolute feedback system inputs. Also see section 3.3.5
Pin assignment for AX4 encoder systems.
In the case of AX4 boards, this function is available from HW Rev. B.
4) The MAX2, MAX4 boards are each equipped with two pure digital encoder inputs and two combined digital encoder /
SinCos inputs.
5) The AX4 board is equipped with four combined digital encoder / SinCos inputs. Also see section 3.3.5 Pin assignment for
AX4 encoder systems
6) In accordance with the RS422 standard, each input is equipped with 120 Ohm resistance. The encoder must be able to
handle this load
1) Analogue inputs: The maximum sampling rate for analogue inputs is 450kHz, or 250kHz with a multiplexer.
2) For incremental encoder to Sin/Cos input see “Incremental encoder” table.
3) The MAX2, MAX4 boards are each equipped with two pure digital encoder inputs and two combined digital encoder /
SinCos inputs. Also see section 3.3.5 Pin assignment forAX4 encoder systems

Indel motion boards Technical details
Digital inputs and outputs
Digital inputs and outputs MAX-2,4 MAX-10 AX4
Number of digital outputs 16
24V outputs (resistant to short-
circuiting) VOUT 18 … 32
Constant current of 24V outputs A 1
Switching delay of outputs ms 0.5
Number of digital inputs 16
Digital inputs UIN V 18 … 32
Digitale Eingänge ION @ 24V mA 1
Input filter us 250
Level for logic 1 VON 13.2
Level for logic 0 VOFF 5.4
Input impedance Ohm 26.7k
Galvanic isolation of inputs and
outputs

Number of trigger inputs - 4 -
Trigger inputs UMAX V - 5 -
Pulsators (optional)
TTL outputs AX4
TTL outputs (74ABT245) VOUT MAX 5V/3.3V
Constant current of TTL outputs IMAX mA 10
PWM frequency kHz 20
Shortest ∆tns 20
Number of TTL outputs 8
PWM outputs
PWM outputs MAX2,4 MAX-10 AX4
PWM outputs, resistant to short-circui-
ting, open drain VOUT MAX 0 … 36 0 … 36 0 … 48
Constant current of PWM outputs IMAX A 2.5 2.5 5
PWM frequency kHz 20 20 20
Shortest ∆tns 20 20 20
Number of PWM outputs, incl. brake 3 6 1
Rev 1.31; 04/11/2013 Page 15/54

Technical details Indel motion boards
Analogue inputs and outputs
Analogue inputs and outputs MAX2,4 MAX-10 AX4
Number of analogue inputs 14 4 -
Ranges V ± 10
± 1
± 0.1
± 5
Converter time / channel Khz 4 8 … 12
Resolution Bit 16 16
Average filter 1 … 256 1 … 256
Number of analogue outputs 4 - -
Range V ± 10
Power per channel IMAX mA 5
Resolution Bit 16
Accuracy 1 ‰
Once switched on, the output of the analogue outputs is -12V over 300ms.
Accuracy of analogue inputs
Accuracy of ana-
logue inputs
Measuring range
Relative
accuracy of
individual measure-
ment
Relative accuracy
averaged for 100
values
Absolute
accuracy
± 10 V Bit 14 15 14
± 1 V Bit 13 14 13
± 0.1 V Bit 12 14 12
Optimum stability of measurement values is achieved once the unit has been switched on for 15min.
The accuracy specifications apply at the operating temperature.
Interfaces
Interfaces INFO-MAX2,4 GIN-MAX2,4 GIN-MAX10 GIN-AX4
Serial interface RS232 1 1 1 1
Baud rate RS232 115'200 115'200 115'200 115'200
Protocols: Modbus    
INFO-link interface 11MBit    
Ethernet interfaces
2 x GinLink or 1 x Ether-
net, 1x GinLink
1GBit - 2 2 2
IMP interface    
Number of participants - - - 1
5V supply (IMP bus) mA - - - 800
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Indel motion boards Technical details
3.2 Technical details for connector boards
3.2.1 MAX-DBIT
Analogue inputs
Analogue inputs Channel no. Pin MAX-DBIT
Vacuum sensor 1) 0 On Board
Analogue inputs 1 … 3 X19, X20
Potentiometer input 3 X38
Potentiometer voltage V 10
PT-100 inputs 4 … 7 X20, X21, X22
Measuring current for PT-100 re-
sistance mA 3.333
Thermocouple inputs 8 … 12 X11 … X15
PT-100 balancing point 13 On Board
PT-100 references 14 … 15 On Board
Rev 1.31; 04/11/2013 Page 17/54
1) For specifications for the analogue inputs see section 3.1 Technical details for motion boards

Technical details Indel motion boards
3.2.2 MAX-DBMT
Analogue inputs
Analogue inputs Channel no. Pin MAX-DBMT
Analogue inputs 1) 0 … 11 X16, 17, 18
PT-100 inputs 12 … 13 X13
PT-100 references 14 … 15
Measuring current for PT-100 re-
sistance mA 3.333
Analogue outputs
Analogue outputs Channel no. Pin
Analogue outputs 1) 0 … 1 X14
Resolver reference 2) 2 … 3 X13
PWM outputs
PWM outputs MAX-DBMT
Number of PWM outputs, open collector
Pins X27, X28: PDOUT-0, PDOUT-1 2
Maximum PWM frequency kHz 4
Maximum voltage VDC 50
Maximum power A 5A
RDS ON mOhm 0.1
Page 18/54 04/11/2013; Rev 1.31
1) For specifications for the analogue inputs and outputs see section 3.1 Technical details for motion boards
2) For resolver specifications see section 3.1 Technical details for motion boards Resolver

Indel motion boards Technical details
3.3 Dimensions, pin assignment
3.3.1 Dimensions of AX4
A minimum distance of 50mm must be maintained between the individual motion boards.
Rev 1.31; 04/11/2013 Page 19/54
Fig. 2: AX4 front Fig. 1: AX4 side
Fig. 3: Drill plan, AX4

Technical details Indel motion boards
3.3.2 Pin arrangement for AX4 board
Absolute feedback systems can be connected to pins X3B, X4B; SinCos 1, 3.
Page 20/54 04/11/2013; Rev 1.31
Fig. 6: Motor pins
Fig. 5: Encoder pins
Fig. 4: Front pins
X30
(optional)