# Electrical Connections

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<figure><img src="/files/TmmymTD59MotnamaeM9v" alt="" width="375"><figcaption></figcaption></figure>
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<table><thead><tr><th width="59.111083984375" align="right">No.</th><th>Designation</th><th>Description</th></tr></thead><tbody><tr><td align="right">1</td><td><a href="#id-7-segment-display">7-Segment Display</a></td><td>Operational status display</td></tr><tr><td align="right">2</td><td><a href="#ethernet-tcp-ip">ETHERNET TCP/IP</a></td><td>WebMotion® /ASCII / TCP/IP</td></tr><tr><td align="right">3</td><td><a href="#industial-ethernet">INDUSTRIAL ETHERNET</a></td><td>Optional</td></tr><tr><td align="right">4</td><td><a href="#usb-com">USB/COM</a></td><td>Communication Serial</td></tr><tr><td align="right">5</td><td><a href="#start-up">START-UP</a></td><td>Main-Sub / Gantry / Startup-Key</td></tr><tr><td align="right">6</td><td><a href="#plc-i-o">PLC I/O</a></td><td>Digital I/O &#x26; Safety-Inputs</td></tr><tr><td align="right">7</td><td><a href="#optio">OPTIO</a></td><td>Signateq® measuring amplifier</td></tr><tr><td align="right">8</td><td><a href="#encoder-hall">ENCODER HALL</a></td><td>Axis incl. communication</td></tr><tr><td align="right">9</td><td><a href="#pw-lg">PW / LG</a></td><td>DC-Supply Logic &#x26; Motor</td></tr><tr><td align="right">10</td><td><a href="#motor">MOTOR</a></td><td>Motor phases U/V/W</td></tr></tbody></table>

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Connectors on the XENAX® servo controller may only be connected or disconnected when the power supply is switched off.
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### 7-Segment Display

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Serves as a direct status indication of the operating state.
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<figure><img src="/files/r0vesAu9ZbZlZZN4Taft" alt="" width="188"><figcaption></figcaption></figure>
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<table><thead><tr><th width="109.5" align="right">Display</th><th>Description</th></tr></thead><tbody><tr><td align="right">none</td><td>No logic supply present or logic supply not within 24V DC ±10%.</td></tr><tr><td align="right">0</td><td>Logic supply present and motor power stage OFF</td></tr><tr><td align="right">1</td><td>Closed-loop control → Motor ON</td></tr><tr><td align="right">F</td><td>Bootloader active → Firmware-Update</td></tr><tr><td align="right">1-30 </td><td>Code is flashing → INFORMATION</td></tr><tr><td align="right">31-49</td><td>Code is flashing → WARNING</td></tr><tr><td align="right">50-99</td><td>Code is flashing → ERROR </td></tr></tbody></table>
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***

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### ETHERNET TCP/IP

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The XENAX® servo controller can be connected to the machine network via the Ethernet interface.
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#### **Webinterface**

For configuration and programming, the integrated HTML5 WebMotion® interface can be accessed using a standard web browser.
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#### **ASCII-Commands**

For direct control via a socket connection, port 10001 is used.
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<div align="center"><figure><img src="/files/MHX6rdAKmEMnKMqPdr8K" alt=""><figcaption></figcaption></figure></div>
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#### Status-LED's

The green <mark style="color:green;">`LINK Status`</mark> LED lights up when the Ethernet cable is connected and the link is initialized.

The orange <mark style="color:orange;">`Activity`</mark> LED flashes during communication
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#### **Connection**

Standard connection via a regular RJ45 Ethernet cable through a network switch or direct connection to a PC/laptop. A standard Ethernet cable is sufficient; modern network cards automatically detect the connection type.
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### Industial Ethernet

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<div align="center"><figure><img src="/files/NMiHXpSOK6c9T03DKjw7" alt="" width="563"><figcaption></figcaption></figure></div>

<figure><img src="/files/uYB1gwq5OvATsTql4m5P" alt="" width="375"><figcaption></figcaption></figure>
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The XENAX® servo controller optionally supports connection to common industrial-Ethernet systems such as EtherCAT, PROFINET, and other industrial Ethernet protocols.

This enables seamless integration into various automation environments and ensures fast, deterministic communication.
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***

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### USB/COM

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<figure><img src="/files/NWnicSRoSgRcKR4FiV3I" alt=""><figcaption></figcaption></figure>
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The XENAX® servo controller is equipped as standard with a USB interface for communication via ASCII commands.
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When connected to a computer, the controller is recognized as a virtual COM port.
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<p align="right"></p>
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#### **RS232**

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Optionally, the USB/COM interface can be factory-configured as a serial RS232 interface to allow direct connection to serial devices.
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This option must be specified at the time of ordering.
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<figure><img src="/files/0g1ulagooihMM6ytbRoi" alt="" width="113"><figcaption></figcaption></figure>
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<table><thead><tr><th width="64" data-type="number">PIN</th><th align="center">USB/COM XENAX®</th><th align="center">Host (PC)</th></tr></thead><tbody><tr><td>1</td><td align="center">N.C.</td><td align="center">N.C.</td></tr><tr><td>2</td><td align="center">RX</td><td align="center">TX</td></tr><tr><td>3</td><td align="center">TX</td><td align="center">RX</td></tr><tr><td>4</td><td align="center">GND</td><td align="center">GND</td></tr></tbody></table>

A suitable cable with a USB to 9-pin D-Sub connector is also available.
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#### RS232-Configuration

* Baud rate: 115 200 Bit/s
* Data bits: 8
* Parity: None
* Stop bits: 1
* Flow control: None

The baud rate can be changed using the DIP switch labeled `LOADER`. For this purpose, the housing must be opened. The new baud rate is applied after restarting the controller.
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<figure><img src="/files/idlrBGhzvZHBxfCvuOQ2" alt="" width="375"><figcaption></figcaption></figure>
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<table><thead><tr><th width="144.6666259765625" align="center">DIP-Sw</th><th width="60" align="center" valign="middle">1</th><th width="60" align="center" valign="middle">2</th><th width="60.22216796875" align="center">3</th><th width="60.575927734375" align="center">4</th><th align="right">Baud rate [baud]</th></tr></thead><tbody><tr><td align="center"><img src="/files/hLimgzasjz8Pq5xTOxNM" alt="" data-size="original"></td><td align="center" valign="middle">OFF</td><td align="center" valign="middle">OFF</td><td align="center">OFF</td><td align="center">OFF</td><td align="right">9 600</td></tr><tr><td align="center"><img src="/files/7eQeH1FomjW2lp1y0ZSw" alt="" data-size="original"></td><td align="center" valign="middle">OFF</td><td align="center" valign="middle"><strong>ON</strong></td><td align="center">OFF</td><td align="center">OFF</td><td align="right">57 600</td></tr><tr><td align="center"><img src="/files/ZGI02cAknL5KnizszxsA" alt=""></td><td align="center" valign="middle">OFF</td><td align="center" valign="middle">OFF</td><td align="center"><strong>ON</strong></td><td align="center">OFF</td><td align="right">(default) 115 200</td></tr><tr><td align="center"><img src="/files/s7DubFbuS5cgm6wQSGBk" alt=""></td><td align="center" valign="middle">OFF</td><td align="center" valign="middle"><strong>ON</strong></td><td align="center"><strong>ON</strong></td><td align="center">OFF</td><td align="right">19 200</td></tr></tbody></table>
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***

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### START-UP

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<figure><img src="/files/IUgwoYuXs2DeuM4GTIQp" alt=""><figcaption></figcaption></figure>
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The I²C communication available behind these two USB-A interfaces is used for various functions such as the `Startup-Key`, `Gantry synchronization mode` or `Main/Sub-Operation` .
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<p align="right"></p>

<figure><img src="/files/7F93Nw3N3hYnRKNJH03f" alt=""><figcaption></figcaption></figure>
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#### **Startup-Key**

The `Startup-Key` is an EEPROM-based memory module that stores all XENAX® settings and programs, without requiring a laptop or additional software.

This allows different «recipes» or application programs to be stored on different keys.\
During startup, when the appropriate key is inserted, the correct «recipe» or program is automatically loaded onto the XENAX® and started.
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<figure><img src="/files/3by8h36V4oeSAa5j5uUp" alt="" width="375"><figcaption></figcaption></figure>
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#### **Gantry Synchronous Operation**

In a gantry configuration, two axes with separate measuring systems must be synchronized. For this purpose, the two servo controllers are connected to each other via a short, shielded USB cable using the I²C connection at the `START-UP`-interface, and are then configured accordingly in WebMotion®. A suitable cable can be supplied upon request.

Further information on configuration and operation in gantry mode can be found in Gantry-Synchronization mode. <mark style="color:$danger;">**LINKMISSING**</mark>
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#### **Main/Sub - Operation**

For standalone applications without a PLC or PC, sequence programs can be created directly on the XENAX® using WebMotion®. Via the I²C connection, up to four axes can be coordinated. This allows typical handling tasks to be implemented directly on a single servo controller - the Main Controller - which in turn coordinates the movements of up to three Sub axes. Even Forceteq® applications or overlapping motions can be implemented without difficulty.

Further information on Main/Sub - operation can be found in Main/Sub – Operation. <mark style="color:$danger;">**LINKMISSING**</mark>
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***

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### PLC I/O

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<figure><img src="/files/OKZRJEE2IEgjA8gFRDNE" alt=""><figcaption></figcaption></figure>
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The 24V DC Input/Output's on the 26-pin high-density D-Sub connector can be freely configured via WebMotion®. A pre-assembled, shielded cable with open end, wired according to this pin assignment, is available from Jenny Science AG.
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<table><thead><tr><th width="72.3333740234375" data-type="number">PIN</th><th width="230">Name</th><th width="150.22216796875">Color</th><th width="229.833251953125">Specification</th><th valign="middle">Function</th></tr></thead><tbody><tr><td>1</td><td>Output 1</td><td>white</td><td>24V DC Source/Sink</td><td valign="middle">Digital Output / Output function</td></tr><tr><td>2</td><td>Output 2</td><td>brown</td><td>24V DC Source/Sink</td><td valign="middle">Digital Output / Output function</td></tr><tr><td>3</td><td>Output 3</td><td>green</td><td>24V DC Source/Sink</td><td valign="middle">Digital Output / Output function</td></tr><tr><td>4</td><td>Output 4</td><td>yellow</td><td>24V DC Source/Sink</td><td valign="middle">Digital Output / Output function</td></tr><tr><td>5</td><td>Output 5</td><td>gray</td><td>24V DC Source/Sink</td><td valign="middle">Digital Output / Output function</td></tr><tr><td>6</td><td>Output 6</td><td>pink</td><td>24V DC Source/Sink</td><td valign="middle">Digital Output / Output function</td></tr><tr><td>7</td><td>Output 7</td><td>blue</td><td>24V DC Source/Sink</td><td valign="middle">Digital Output / Output function</td></tr><tr><td>8</td><td>Output 8</td><td>red</td><td>24V DC Source/Sink</td><td valign="middle">Digital Output / Output function</td></tr></tbody></table>

<table><thead><tr><th width="72.3333740234375" data-type="number">PIN</th><th width="230">Name</th><th width="150.22216796875">Color</th><th width="229.8333740234375">Specification</th><th>Function</th></tr></thead><tbody><tr><td>9</td><td>Power Stage Enable</td><td>black</td><td>24V DC / R<sub>i</sub> = 44.6kΩ</td><td>Inactive</td></tr><tr><td>10</td><td>GND</td><td>violet</td><td>0V GND</td><td>Ground</td></tr><tr><td>11</td><td>Fast-Trgger Out</td><td>greypink</td><td>24V DC (5V DC optional)</td><td>Real-time trigger output</td></tr><tr><td>12</td><td>+24V DC Out</td><td>redblue</td><td>24V DC / max. 100mA</td><td>Auxiliary voltage</td></tr></tbody></table>

<table><thead><tr><th width="72.3333740234375" data-type="number">PIN</th><th width="230">Name</th><th width="150.22216796875">Color</th><th width="229.8333740234375">Specification</th><th valign="middle">Function</th></tr></thead><tbody><tr><td>13</td><td>Input 9 / BCD 0</td><td>whitegreen</td><td>24V DC / R<sub>i</sub> = 31kΩ</td><td valign="middle">Bit 0 Binary program preset 1-15</td></tr><tr><td>14</td><td>Input 10 / BCD 1</td><td>browngreen</td><td>24V DC / R<sub>i</sub> = 31kΩ</td><td valign="middle">Bit 1 Binary program preset 1-15</td></tr><tr><td>15</td><td>Input 11 / BCD 2</td><td>whiteyellow</td><td>24V DC / R<sub>i</sub> = 31kΩ</td><td valign="middle">Bit 2 Binary program preset 1-15</td></tr><tr><td>16</td><td><p>Input 12 / BCD 3 / </p><p>Gate-Input</p></td><td>yellowbrown</td><td>24V DC / R<sub>i</sub> = 31kΩ</td><td valign="middle">Bit 3 Binary program preset 1-15 / Optional Gate-Input for FastTrigger / Capture Position edge-triggered</td></tr></tbody></table>

<table><thead><tr><th width="72.3333740234375" data-type="number">PIN</th><th width="230">Name</th><th width="150.22216796875">Color</th><th width="229.833251953125">Specification</th><th>Function</th></tr></thead><tbody><tr><td>17</td><td>Input 1</td><td>whitegrey</td><td>24V DC / R<sub>i</sub> = 31kΩ</td><td>Digital Input / Safety</td></tr><tr><td>18</td><td>Input 2</td><td>greybrown</td><td>24V DC / R<sub>i</sub> = 31kΩ</td><td>Digital Input / Safety</td></tr><tr><td>19</td><td>Input 3</td><td>whitepink</td><td>24V DC / R<sub>i</sub> = 31kΩ</td><td>Digital Input / Safety</td></tr><tr><td>20</td><td>Input 4</td><td>pinkbrown</td><td>24V DC / R<sub>i</sub> = 31kΩ</td><td>Digital Input / Safety</td></tr><tr><td>21</td><td>Input 5</td><td>whiteblue</td><td>24V DC / R<sub>i</sub> = 31kΩ</td><td>Digital Input / Safety</td></tr><tr><td>22</td><td>Input 6</td><td>brownblue</td><td>24V DC / R<sub>i</sub> = 31kΩ</td><td>Digital Input / Safety</td></tr><tr><td>23</td><td>Input 7</td><td>whitepink</td><td>24V DC / R<sub>i</sub> = 31kΩ</td><td>Digital Input / Safety</td></tr><tr><td>24</td><td>Input 8</td><td>brownred</td><td>24V DC / R<sub>i</sub> = 31kΩ</td><td>Digital Input / Safety / BCD Program-Start</td></tr></tbody></table>

<table><thead><tr><th width="72.3333740234375" data-type="number">PIN</th><th width="230">Name</th><th width="150.22216796875">Color</th><th width="229.833251953125">Specification</th><th>Function</th></tr></thead><tbody><tr><td>25</td><td>GND</td><td>whiteblack</td><td>0V GND</td><td>Ground</td></tr><tr><td>26</td><td>+24V DC Out</td><td>brownblack</td><td>24V DC / max. 100mA</td><td>Auxiliary voltage</td></tr></tbody></table>

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#### **Output 1-8**

An assignment of the output functions can be configured on the [i/o](broken://pages/DGaxoA6NyiffuzBe4Z6N) page in WebMotion®. In addition, the outputs can be controlled during program execution via program commands or industrial-Ethernet objects.

Each of the eight outputs can be individually configured as a source, sink, or source/sink output using the ASCII command `SOT`.

The maximum output currents are: I<sub>max</sub> Source = 100 mA or I<sub>max</sub> Sink = 400 mA.

In addition, the high or low activity of each output can be configured using the ASCII command `SOA`.
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<div><figure><img src="/files/8bJhKUcs8deeOp1BcrrM" alt="" width="205"><figcaption></figcaption></figure> <figure><img src="/files/7zehoUsGgriCaknrm4tp" alt="" width="193"><figcaption></figcaption></figure> <figure><img src="/files/GdCujW7ihr7e0Anoqkgi" alt="" width="199"><figcaption></figcaption></figure></div>

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<p align="right"><strong>Output-Typ</strong></p>

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ASCII

Bit structure

Default
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`SOT` (Set Output type)

16Bit (2 bits per output)

`SOT21845` (Outputs 1-8 SOURCE)
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<table><thead><tr><th width="180">Output-type</th><th align="center">BIT-B</th><th align="center">BIT-A</th></tr></thead><tbody><tr><td>SOURCE</td><td align="center">0</td><td align="center">1</td></tr><tr><td>SINK</td><td align="center">0</td><td align="center">0</td></tr><tr><td>SOURCE/SINK</td><td align="center">1</td><td align="center">0</td></tr></tbody></table>
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<p align="right"><strong>Example</strong></p>
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The following output configuration is active with the ASCII command `SOT19089` :
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<table><thead><tr><th width="154">Output-No</th><th align="center">8</th><th align="center">7</th><th align="center">6</th><th align="center">5</th><th align="center">4</th><th align="center">3</th><th align="center">2</th><th align="center">1</th></tr></thead><tbody><tr><td><code>SOT</code>-Bit</td><td align="center">B    |    A</td><td align="center">B    |    A</td><td align="center">B    |    A</td><td align="center">B    |    A</td><td align="center">B    |    A</td><td align="center">B    |    A</td><td align="center">B    |    A</td><td align="center">B    |    A</td></tr><tr><td>Example <code>SOT</code></td><td align="center">0    |    1</td><td align="center">0    |    0</td><td align="center">1    |    0</td><td align="center">1    |    0</td><td align="center">1    |    0</td><td align="center">0    |    1</td><td align="center">0    |    0</td><td align="center">0    |    1</td></tr><tr><td>Example type</td><td align="center">SOURCE</td><td align="center">SINK</td><td align="center">SOURCE/SINK</td><td align="center">SOURCE/SINK</td><td align="center">SOURCE/SINK</td><td align="center">SOURCE</td><td align="center">SINK</td><td align="center">SOURCE</td></tr></tbody></table>

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<p align="right"><strong>Output-Activity</strong></p>

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ASCII

Bit structure

Default
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`SOA` (Set Output Activity)

8Bit (1 bit per output)

`SOA255` (Outputs 1-8 HIGH Activity)
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<table><thead><tr><th width="180">Output-Activity</th><th align="center">Bit-Value</th></tr></thead><tbody><tr><td>HIGH Activity</td><td align="center">1</td></tr><tr><td>LOW Activity</td><td align="center">0</td></tr></tbody></table>
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#### **INPUT 1-8**

An assignment of the input functions can be configured on the [i/o](broken://pages/DGaxoA6NyiffuzBe4Z6N) page in WebMotion®.
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In addition, the states of the inputs can be read during program execution via program commands or industrial Ethernet objects.

Each of inputs 1–8 can be individually configured as HIGH-active or LOW-active.
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#### **Input BCD**

With MODE ≥ 10 (ASCII command `MD`), inputs 9 to 12 are used as BCD inputs (Binary Coded Decimal).\
These four inputs are used for program selection and encode the program number 1–15 in binary form.

In this mode, input 8 is permanently assigned as the Program-Start input.\
A signal edge on input 8 (trigger) starts the program selected via the BCD inputs.
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#### Power Stage Enable

This function is disabled by default and must not be used in conjunction with a `Safety Motion Unit`.

If enabled via the hardware DIP switch, the power stage is enabled by applying 24V DC to pin 9.
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#### **Fast Trigger Out**

This real-time output on pin 11 can be used to trigger external hardware, such as a laser or a line scan camera, with precise positioning.

By default, the output is a 24V DC output; a 5V DC version is also available as an option.

The `Gate-Input` (pin 16 on the PLC/IO) can be used to enable or disable the output externally.

The various configuration options are described in detail under [faster trigger](broken://pages/z3tTSg9Cmqwbv8ATSsKC).
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#### **+24V DC Out / GND**

These pins are used to supply external hardware.
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Maximum output current: I<sub>max</sub> = 200mA (total for pin 12 + pin 26).
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***

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### OPTIO

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<figure><img src="/files/Vn0JWCuE7710tcj3Q5aD" alt=""><figcaption></figcaption></figure>
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This connection serves as a communication interface to the Signateq® measurement amplifier and is therefore used for Forceteq® pro applications.
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<figure><img src="/files/j95MnEUqKQrViwH2wYIx" alt=""><figcaption></figcaption></figure>
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Using Forceteq® pro force measurement technology and a standard strain gauge force or torque sensor, forces and torques can be precisely monitored or controlled.

If a Signateq® measuring amplifier is connected to the XENAX®, it can be configured directly via WebMotion®.

<table><thead><tr><th width="80.75" align="right" valign="middle">Pin</th><th width="126.25">Signal</th><th>Description</th></tr></thead><tbody><tr><td align="right" valign="middle">1</td><td>GND</td><td>Ground</td></tr><tr><td align="right" valign="middle">2</td><td>5V DC</td><td>5V Supply Signateq®</td></tr><tr><td align="right" valign="middle">3</td><td>CANH</td><td>CAN High Line</td></tr><tr><td align="right" valign="middle">4</td><td>CANL</td><td>CAN Low Line</td></tr></tbody></table>
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#### Electronic Gearing & Pulse/Direction

{% hint style="info" %}
ince these are hardware options, they must be specified at the time of ordering. You can obtain a pre-assembled cable from Jenny Science AG.
{% endhint %}

Mode 1 → Electronic Gearing (ASCII `MD1`)

Parameter: Synchonous Ratio (ASCII `SRxx`)

Mode 2 → Pulse/Direction (ASCII `MD2`)

Parameter: Inc Per Pulse (ASCII `ICPxx`)
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<table><thead><tr><th width="79.6363525390625" align="right" valign="middle">Pin</th><th width="200" align="center">Electronic Gearing</th><th width="200" align="center">Pulse/Direction</th><th>Description</th></tr></thead><tbody><tr><td align="right" valign="middle">1</td><td align="center">GND</td><td align="center">GND</td><td>Ground</td></tr><tr><td align="right" valign="middle">2</td><td align="center">5V DC</td><td align="center">5V DC</td><td>5V Out</td></tr><tr><td align="right" valign="middle">3</td><td align="center">A</td><td align="center">PULSE</td><td>Pull Up 2,7kΩ to 5V Differential input</td></tr><tr><td align="right" valign="middle">4</td><td align="center">B</td><td align="center">DIRECTION</td><td>Pull Up 2,7kΩ to 5V, Differential input</td></tr><tr><td align="right" valign="middle">5</td><td align="center">B*</td><td align="center">DIRECTION*</td><td>Mid-level: Pull Up 2,7kΩ to 5V, Pull Down 2.2kΩ, Differential input</td></tr><tr><td align="right" valign="middle">6</td><td align="center">A*</td><td align="center">PULSE*</td><td>Mid-level: Pull Up 2,7kΩ to 5V, Pull Down 2.2kΩ, Differential input</td></tr></tbody></table>

***

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### ENCODER HALL

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<figure><img src="/files/dYiWyvRwHmAtlLXOh2pB" alt=""><figcaption></figcaption></figure>
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15-pin D-Sub (high-density) female connector for connecting the encoder signal and communicating with Jenny Science axes for automatic detection.

Use only original Jenny Science cables with a maximum cable length of 20m.
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<table><thead><tr><th width="79.6363525390625" align="right" valign="middle">Pin</th><th width="200.34088134765625">Signal</th><th>Description</th></tr></thead><tbody><tr><td align="right" valign="middle">1</td><td>GND</td><td>Common ground for encoder and Hall signals</td></tr><tr><td align="right" valign="middle">2</td><td>5V Encoder</td><td>5V supply voltage for encoder, 150 mA</td></tr><tr><td align="right" valign="middle">3</td><td>ENCODER A</td><td>Encoder-Signal channel A</td></tr><tr><td align="right" valign="middle">4</td><td>ENCODER A*</td><td>Inverted encoder signal, channel A (differential signal)</td></tr><tr><td align="right" valign="middle">5</td><td>ENCODER B</td><td>Encoder-Signal channel B</td></tr><tr><td align="right" valign="middle">6</td><td>ENCODER B*</td><td>Inverted encoder signal, channel B (differential signal)</td></tr><tr><td align="right" valign="middle">7</td><td>ENCODER Z</td><td>Indexsignal Z</td></tr><tr><td align="right" valign="middle">8</td><td>ENCODER Z*</td><td>Inverted Indexsignal Z (differential signal)</td></tr><tr><td align="right" valign="middle">9</td><td>HALL 1</td><td>Hall-Sensor signal 1</td></tr><tr><td align="right" valign="middle">10</td><td>HALL1*</td><td>Inverted Hall-Sensor signal 1 (differential signal)</td></tr><tr><td align="right" valign="middle">11</td><td>HALL2 / TMP</td><td>Hall-Sensor signal 2 / Motor overtemperature signal</td></tr><tr><td align="right" valign="middle">12</td><td>HALL 2*</td><td>Inverted Hall-Sensor Signal 2 (differential signal)</td></tr><tr><td align="right" valign="middle">13</td><td>HALL 3 / I<sup>2</sup>C_SCL</td><td>Hall-Sensor signal 3 / I<sup>2</sup>C Clock</td></tr><tr><td align="right" valign="middle">14</td><td>HALL 3*</td><td>Inverted Hall-Sensor Signal 3 (differential signal)</td></tr><tr><td align="right" valign="middle">15</td><td>5V HALL / I<sup>2</sup>C_SDA</td><td>5V supply voltage for Hall sensors, 150 mA / I²C Data</td></tr></tbody></table>

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#### Y-cable for encoder signal tap

By tapping the differentially transmitted A, B, and Z signals using a pre-assembled Y-cable, devices such as cameras can be triggered with precise positional accuracy. The cable is available from Jenny Science AG.

The signal must be evaluated in quadrature.

Alternatively, it is recommended to use the `Fast Trigger Out` function of the XENAX®.
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<table><thead><tr><th width="279.6363525390625" align="right" valign="middle">9 Pin Encoder tap</th><th width="199.09088134765625">Signal</th><th>Descrition</th></tr></thead><tbody><tr><td align="right" valign="middle">1</td><td>GND</td><td>Ground</td></tr><tr><td align="right" valign="middle">2</td><td>NC</td><td>Not conneced</td></tr><tr><td align="right" valign="middle">3</td><td>ENCODER A</td><td>Encoder-Signal channel A</td></tr><tr><td align="right" valign="middle">4</td><td>ENCODER A*</td><td>Inverted Encoder-Signal channel A (differential signal)</td></tr><tr><td align="right" valign="middle">5</td><td>ENCODER B</td><td>Encoder-Signal channel B</td></tr><tr><td align="right" valign="middle">6</td><td>ENCODER B*</td><td>Inverted Encoder-Signal channel B (differential signal)</td></tr><tr><td align="right" valign="middle">7</td><td>ENCODER Z</td><td>Indexsignal Z</td></tr><tr><td align="right" valign="middle">8</td><td>ENCODER Z*</td><td>Inverted Indexsignal Z (differential signal)</td></tr><tr><td align="right" valign="middle">9</td><td>NC</td><td>Not conneced</td></tr></tbody></table>

***

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### PW / LG

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<figure><img src="/files/25tvRqu6G0iYKDaOonun" alt=""><figcaption></figcaption></figure>
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Power supply for the motor power (PW) and the logic supply (LG) of the XENAX®.\
It is recommended to use two separate power supplies.

Connector: 4-pin WAGO 734-104 socket, suitable for conductor cross-sections up to 1.5 mm²

{% hint style="success" %}
The 4-pin connector is included
{% endhint %}
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<figure><img src="/files/Kmze7njURDyrAORqLxH6" alt="" width="375"><figcaption></figcaption></figure>
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<table><thead><tr><th width="99.6666259765625" align="right">Pin</th><th width="119.75">Signal</th><th>Description</th></tr></thead><tbody><tr><td align="right">1</td><td>GND</td><td>LG (-) 0V Logic</td></tr><tr><td align="right">2</td><td>24V</td><td>LG 24V DC Supply Logic</td></tr><tr><td align="right">3</td><td>GND</td><td>PW (-) 0V Power</td></tr><tr><td align="right">4</td><td>20 - 75V</td><td>PW 20-75V DC Supply  Power</td></tr></tbody></table>

The power requirements for dimensioning the power supply depend largely on the connected axis, the moved mass, and the motion profile. For higher maximum speeds, a correspondingly higher power supply voltage is required. In this context, it must be taken into account that at high maximum speeds a `BERU` (`Brake Energy Recovery Unit`) must be used to temporarily store braking energy and to protect the XENAX® or the customer’s power supply. We will be pleased to provide application-specific advice upon request.
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#### Stromversorgung und Erdung

Galvanically isolated power supplies must be used to power the logic and power sections.

The housing of the XENAX® servo controller must be connected to the protective earth (PE).

The motor cable must be connected to the protective earth with a low-impedance connection using a shield clamp (item no. 130.09.00).

If the motor supply voltage is ≥ 60 V DC, the XENAX® servo controller must be installed in an electrical control cabinet. The design and construction of the control cabinet must comply with the requirements of IEC 61439-2.
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#### Grounding Concept

To prevent damage to the guideways caused by potential equalization currents, the following points must be observed during electrical installation and wiring:
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<figure><img src="/files/2a3iy3M789BeLdo0eLjd" alt=""><figcaption></figcaption></figure>
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* The 0 V connection of the logic supply (pin 1) and the 0 V connection of the power supply (pin 3) must be connected to the GND/chassis star point of the system/control cabinet.
* The base plate of the Lxs/Lxu motors must be connected to the GND/chassis star point of the system/control cabinet.
* The XENAX® servo controller must be mounted on a conductive back panel that is connected to the GND/chassis star point of the system/control cabinet.\
  And the motor cable must be connected using the shield clamp.
  {% endcolumn %}
  {% endcolumns %}

***

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### MOTOR

{% endcolumn %}
{% endcolumns %}

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<figure><img src="/files/YSoqM7zeXWgIY8caznaF" alt=""><figcaption></figcaption></figure>
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{% column %}
The original cable ordered from Jenny Science for the respective axis includes a pre-assembled connection for the three phases, which is connected directly here.

<table><thead><tr><th width="99.6666259765625" align="right">Pin</th><th width="119.75">Signal</th><th>Description</th></tr></thead><tbody><tr><td align="right">1</td><td>U</td><td>Motorphase U / DC+</td></tr><tr><td align="right">2</td><td>V</td><td>Motorphase V / DC-</td></tr><tr><td align="right">3</td><td>W</td><td>Motorphase W</td></tr></tbody></table>
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<figure><img src="/files/kR3383VNC0JPElc93ocM" alt=""><figcaption></figcaption></figure>
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{% column width="50%" %}

#### EMC shield clamp

To prevent EMC interference and damage to the guideways, the shielding of the supplied cable connected here must be properly secured in the EMC shield clamp. This ensures continuous and effective cable shielding.
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