Table of Contents
Purpose
This document serves as a practical reference for developers working with the D7 platform. It provides:
- Pinout diagrams and connector specifications
- Connection examples for all supported interface types
- References to corresponding software API examples
Target I/O Overview
The D7 platform provides multiple I/O interfaces for connecting various sensors and actuators, as shown in the diagram below:
The diagram shows the primary I/O interfaces:
- Analog input (VRSNS0-5)
- 4-20 mA current loop inputs (420MA0-5 -/+)
- Digital input (DIN0-4)
- Digital output (DOUT0-5)
- Frequency/PWM input (FREQIN0-1)
- Frequency/PWM output (FREQOUT0-1)
Interfaces
The D7 has four interfaces:
AMPSEAL 35-way Connector | 
AMPSEAL 23-way Connector |
M12 A-Coded Connector | 
M12 X-Coded Connector |
The 35-pin AMPSEAL connector is the primary I/O interface.
You will need TE part number 776164-1 for 16-20 AWG, or 2371885-1 for 20-24 AWG. Plus 1.3mm contacts.
The connector provides access to all digital, analog, and communication interfaces of the D7 device. The pinout is organized to group similar functions together where possible.
Alongside the primary I/O interface, the D7 Platform has 2 CAN interfaces, one accessible via the AMPSEAL 23-pin connector and one via the M12 A-coded connector. More information about the CAN ports is available at CAN Interfaces on the D7 Platform.
Analog
The D7 provides 6 voltage/resistance sensing channels that can be configured for voltage/resistance or thermal measurement.
Pin Locations
| Channel | Pin Number | Description |
|---|---|---|
| VRSNS_0 | 6 | Voltage/Resistance Sense Channel 0 |
| VRSNS_1 | 17 | Voltage/Resistance Sense Channel 1 |
| VRSNS_2 | 5 | Voltage/Resistance Sense Channel 2 |
| VRSNS_3 | 16 | Voltage/Resistance Sense Channel 3 |
| VRSNS_4 | 4 | Voltage/Resistance Sense Channel 4 |
| VRSNS_5 | 15 | Voltage/Resistance Sense Channel 5 |
1. Voltage Measurement (using VRSNS pins and AGND pin)
Refer to the Analog for more information on using the D7 SDK APIs to setup the analog input channels.
Here is an example wiring diagram for using the voltage measurement sensor on VRSNS_0:
After following the connection diagram, similar to the resistance example, you can add vsdk::io::profile_builder::add_voltage_sensor function with pin VRSNS_0 to your profile builder.
2. Resistance Measurement
The D7 provides 6 resistance measurement channels that can be configured for 1 or 2-wire sensor connections.
a. 1-wire resistance sensing (using VRSNS pins and AGND pin)
Refer to the Analog for more information on how to setup the resistance measurement. For example, to setup the resistance measurement on VRSNS_0, here is the connection diagram:
After following the connection diagram, use the resistance example code to read the pin value.
b. 2-wire resistance measurement (using VRSNS pins and RREF pin)
Connect any VRSNS pin to the positive pin of the sensor and connect RREF and another VRSNS pin to the negative pin of the sensor, as follows:
Similar to the 1-wire resistance sensing, you can use vsdk::io::profile_builder::add_two_resistance_sensor function to your profile builder, and then just read the sensor value.
c. 3-wire/4-wire RTD measurement
Follow the same setup for sensing RTD sensor using 3 and 4 wire connection as before, see vsdk::io::profile_builder::add_three_wire_rtd and vsdk::io::profile_builder::add_four_wire_rtd functions in Analog.
3. Temperature measurement
a. Thermocouple sensor
API reference: vsdk::io::profile_builder::add_thermocouple.
The D7 supports thermocouple sensors using the following block wiring diagram:
Only some pins can be used as the positive pin in the thermocouple sensor configuration, with the other ones being reserved for the negative pin.
| Positive Pins | Negative Pins |
|---|---|
| VRSNS_1 | VRSNS_0 |
| VRSNS_3 | VRSNS_2 |
| VRSNS_5 | VRSNS_4 |
The D7 supports the following types of thermocouple sensors:
- Type B
- Type E
- Type J
- Type K
- Type N
- Type R
- Type S
- Type T
b. 2-wire Pt100 resistive thermal detector
API reference: vsdk::io::profile_builder::add_two_wire_rtd.
The D7 supports 2-wire Pt100 RTD sensors using the following block wiring diagram:
The positive pin is restricted to the same 3 pins as the thermocouple sensor:
- VRSNS_1
- VRSNS_3
- VRSNS_5
The 2-wire RTD sensor is more accurate than the thermocouple sensor.
c. 3-wire Pt100 resistive thermal detector
API reference: vsdk::io::profile_builder::add_three_wire_rtd.
The D7 supports 3-wire Pt100 RTD sensors using the following block wiring diagram:
The same restrictions apply on the pins as for the thermocouple sensor.
The 3-wire RTD sensor is more accurate than the 2-wire RTD sensor, but less accurate than the 4-wire one.
d. 4-wire Pt100 resistive thermal detector
API reference: vsdk::io::profile_builder::add_four_wire_rtd.
The D7 supports 4-wire Pt100 RTD sensors using the following block wiring diagram:
The 4-wire RTD sensor is the most accurate temperature sensor on the D7.
The following pin can be used for the following terminals:
| Pin\Terminal | Positive A | Positive B | Negative B |
|---|---|---|---|
| VRSNS_0 | ✅ | ✅ | |
| VRSNS_1 | ✅ | ✅ | |
| VRSNS_2 | ✅ | ✅ | |
| VRSNS_3 | ✅ | ✅ | |
| VRSNS_4 | ✅ | ✅ | |
| VRSNS_5 | ✅ | ✅ |
Note: One physical pin can only be assigned to one terminal (one of Positive A, Positive B, Negative B) at any given moment. For instance, VRSNS_0 cannot be used for Positive A and Positive B at the same time.
4. 4-20 mA
4-20 mA Inputs
The D7 provides 6 current loop channels that can be configured for 4-20mA sensor connections.
Pin Locations
| Channel | Pin Number | Description |
|---|---|---|
| 420MA_0+ | 12 | 4-20mA Channel 0 |
| 420MA_0- | 23 | 4-20mA Channel 0 |
| 420MA_1+ | 11 | 4-20mA Channel 1 |
| 420MA_1- | 22 | 4-20mA Channel 1 |
| 420MA_2+ | 10 | 4-20mA Channel 2 |
| 420MA_2- | 21 | 4-20mA Channel 2 |
| 420MA_3+ | 9 | 4-20mA Channel 3 |
| 420MA_3- | 20 | 4-20mA Channel 3 |
| 420MA_4+ | 8 | 4-20mA Channel 4 |
| 420MA_4- | 19 | 4-20mA Channel 4 |
| 420MA_5+ | 7 | 4-20mA Channel 5 |
| 420MA_5- | 18 | 4-20mA Channel 5 |
Connect your signal source (example: 4-20mA sensor) to the appropriate 420MA pin and use the 4-20mA input example code to read the values of any of the configured pins. Also see vsdk::io::i420_input.
Digital
1. Digital Input (DIN0-DIN4)
The D7 provides 5 digital input channels that can be configured for active-high or active-low operation.
Pin Locations
| Channel | Pin Number | Description |
|---|---|---|
| DIN0 | 35 | Digital Input Channel 0 |
| DIN1 | 34 | Digital Input Channel 1 |
| DIN2 | 33 | Digital Input Channel 2 |
| DIN3 | 32 | Digital Input Channel 3 |
| DIN4 | 31 | Digital Input Channel 4 |
Connect your signal source to the appropriate DIN pin and use the digital input example code to read the input status.
2. Digital Output (DOUT0-DOUT5)
The D7 provides 6 digital output channels that can be configured for active-high or active-low operation.
Pin Locations
| Channel | Pin Number | Description |
|---|---|---|
| DOUT0 | 25 | Digital Output Channel 0 |
| DOUT1 | 24 | Digital Output Channel 1 |
| DOUT2 | 13 | Digital Output Channel 2 |
| DOUT3 | 1 | Digital Output Channel 3 |
| DOUT4 | 2 | Digital Output Channel 4 |
| DOUT5 | 3 | Digital Output Channel 5 |
Connect your signal source to the appropriate DOUT pin and use the digital output example code to control the output status (like, for instance, an LED indicator).
PWM
1. PWM Input (FREQIN0, FREQIN1)
The D7 provides 2 PWM input channels that can be configured for frequency measurement or RPM sensor connection.
Pin Locations
| Channel | Pin Number | Description |
|---|---|---|
| FREQIN0 | 29 | PWM Input Channel 0 |
| FREQIN1 | 28 | PWM Input Channel 1 |
Connect your signal source (example: rpm motor) to the appropriate FREQIN pin and use the PWM input example code to read the input status for both channels.
2. PWM Output (FREQOUT0, FREQOUT1)
The D7 provides 2 PWM output channels.
Pin Locations
| Channel | Pin Number | Description |
|---|---|---|
| FREQOUT0 | 27 | PWM Output Channel 0 |
| FREQOUT1 | 26 | PWM Output Channel 1 |
Connect your signal source (example: motor) to the appropriate FREQOUT pin and use the PWM output example code to control the output status.
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