Signal Descriptions

The signal description table below provides information on the various types of signals used in the EMotion system, including the signal name, voltage level, type, direction, and usage description.

Generic breakout board

Name	Level	Type	Direction	Description
STEP+	5V	Differential	Out	Step or CW output signal
STEP-	5V	Differential	Out	Step or CW output signal
DIR+	5V	Differential	Out	Direction or CCW output signal
DIR-	5V	Differential	Out	Direction or CCW output signal
ENC_A+	5V	Differential	In	Encoder Phase A+
ENC_A-	5V	Differential	In	Encoder Phase A-
ENC_B+	5V	Differential	In	Encoder Phase B+
ENC_B-	5V	Differential	In	Encoder Phase B-
ENC_Z+	5V	Differential	In	Encoder Phase Z+
ENC_Z-	5V	Differential	In	Encoder Phase Z-

Name	Level	Type	Direction.	Description
SERVO ON	24V	Open-collector	Out	Servo on output signal. This signal is used to energize the motor drive. (Can be programmed as active high or active low.)
ALM	24V	Open-collector	Out	Alarm clear output signal. Clears an alarm condition on the motor drive.
FWD	24V	Optocoupler	In	Forward limit switch input signal
REV	24V	Optocoupler	In	Reverse limit switch input signal
HOM	24V	Optocoupler	In	Home limit switch input signal
24V		Power	Out	24V power for limit switch
24V		Power	Out	24V power for limit switch
GND		Power	Out/Ref	Power output for limit switch /Signal reference
GND		Power	Out/Ref	Power output for limit switch /Signal reference
BP	5V	Single-ended	Out	Breakpoint output signal. This signal can be used to trigger other components, such as cameras, sensors, and measurement devices.
CAP	5V	Single-ended	In	Capture input signal. The EMotion will return the motor positions of when this signal was triggered.
GND		Power	Out/Ref	Signal reference for BP and CAP