①

GPIO2 as Input: Requires :pu configuration in YAML file.
GPIO.26 as Input: Requires jumper selection first.
Hardware Note: Both IOs are connected to MCU via optocouplers with fixed 5V supply.

②

Compatible Input Types: Standard ON/OFF input, 5V signal switch, or industrial 12V/24V PNP/NPN switches.For safety reasons, please connect a resistor of 2.2kΩ or higher in series with the signal terminal when using a 24V supply.
Default Jumper (5V): Suitable for standard input and 5V signal input.
SW-VCC Selection: Set to Vmot-main. Your industrial switch voltage must match Vmot-main.
NPN/PNP Trigger Mode: Configure in YAML by adding or removing the :low parameter.

③

Output Capability: Can output 5V PWM signals or 5V switching signals for controlling spindles, lasers, servos, etc.
Circuit Requirement: Requires connection with any GND on the board to form a complete circuit.
GPIO Linkage: GPIO.4 and GPIO.12 are interconnected with the MOSFET on the orange terminal.
MOSFET Output: The MOSFETs can output voltage equal to Vmot-main or turn off the circuit, and are used to drive inductive loads such as solenoid valves. There are two output channels, controlled by GPIO.4 and GPIO.12 respectively.

④

RS485 Interface: This is an RS485 output interface.
A/B Polarity: If A and B are reversed, simply swap them. Reversed connections will not cause device damage.
Configuration Reference: Related settings can be configured by referring to the test code examples.

⑤

Analog Output: Provides 0-10V analog output for frequency converters. Connect GPIO.13 and GND, then configure to obtain the corresponding voltage.
Optocoupler Switches: OPT-IO.14/OPT-COMMON and OPT-IO.15/OPT-COMMON form switch pairs (both ends of optocouplers).
Digital Control: Controlled via IO.14 and IO.15 to open/close circuits, usable as standard digital outputs to signal frequency converters.
Start/Stop Function: For frequency converters requiring start/stop control, configure the onboard relay's NO (Normally Open) or NC (Normally Closed) contacts as control signals.

⑥

Function: This variable resistor is used to adjust the maximum voltage of the 10V output.
Calibration Scenario: When using maximum output commands (e.g., M3 S24000), if the output voltage does not reach 10V.
Adjustment Method: Fine-tune this variable resistor until the output voltage reaches exactly 10V.

⑧

Control Source: Relay output is controlled by GPIO.26.
Configuration: Must select "Relay Output" in the GPIO.26 function selection jumper.
Application: The relay can operate as a standalone output or provide switching signals to other devices.

⑨

Output Capability: Can output the same voltage as Vmot-main or off. used to drive inductive loads such as solenoid valves.
Control Principle: Controlled via IO.12 or IO.4 by switching GND connection to complete the circuit.
Voltage Note: Vmot-main is positive voltage, while IO.12-MOS-GND and IO.4-MOS-GND ports serve as GND.
Important Warning: Reverse connection will damage the device! Always verify with a multimeter before use.

⑩

Power Input: This is the system voltage input that provides stable power to RS485, amplifiers, and other devices.
Voltage Warning: Excessive voltage will damage components and ICs due to the numerous connected devices.
Recommended Voltage: 24V input is strongly recommended.
Polarity Caution: Ensure correct polarity - reverse connection may cause damage.

⑪

Purpose: This port supplies power to the onboard stepper motor drivers.
Capacitor Rating: Our onboard electrolytic capacitors have a 50V withstand voltage rating.
Driver Requirements: Some onboard driver modules contain capacitors with lower voltage tolerance, while others require >12V to generate proper signals.
Recommendation: 24V is recommended. Ensure correct polarity to avoid damage.

⑫

Function: This jumper selects the VDD logic voltage for stepper motor drivers (onboard or external).
SPI Drivers: Since SPI signals are 3.3V, select 3.3V when using SPI-type stepper motors.
5V Drivers: Select 5V for external drivers requiring 5V logic signals.
Default Setting: Default position is 3.3V. Choose according to your specific driver requirements.

⑬

Function: This is the GPIO.26 function selection jumper.
Mode Options: Can be configured as a standard input or as a relay output.
Reference: Please refer to the descriptions in Point ① and Point ⑧ for detailed information.

⑭

Function: Onboard driver MS1/MS2 configuration switches.
Driver Variations: Some drivers support MS1/MS2/MS3, while others only support MS1/MS2.
MS3 Configuration: For MS3 setting, configure in YAML file using I2SO output to control pin levels.
Naming Note: Some driver boards label these as MS0/MS1/MS2 - set according to actual pin functions.
Scope: This MS1/MS2 setting simultaneously configures all 6 onboard drivers.

⑮

Function: MS3 pin configuration description and corresponding I2SO numbers.
Dual Purpose: Some SPI drivers use the MS3 pin as a Chip Select (CS) signal.
Flexibility: These I2SO ports can also be used as CS signals for corresponding SPI drivers.
Reference: For specific usage examples, please refer to the detailed documentation.

⑯

External Driver Usage: Install these jumpers when using external drivers to output EN, DIR, CLK, and GND signals.
C-axis Configuration: Also required when configuring C-axis as external relay output.
Primary Function: Routes I2SO signals to the green TBX terminals.
CRITICAL WARNING: Never install onboard drivers while these jumpers are inserted! This will damage both your onboard drivers and the mainboard chips.

⑰

Onboard Driver Usage: Must remove all corresponding jumpers from the slots when using onboard drivers.
Signal Routing: With onboard drivers, the green TBX terminals output signals directly to the motors.
Hybrid Configuration: Mixed setup is supported (e.g., slots 1-4 for onboard drivers, slots 5,6 for external relay output).
Jumper Placement: Slots 1-4 must have no jumpers; slots 5-6 can have jumpers installed to route I2SO signals for relays to TBX terminals.

⑱

Function: Used for external SPI stepper motor driver output.
Configuration: When using, remove the SPI jumpers mentioned in Point ⑲ that are intended for onboard drivers.
Pin Assignment: V4.96Pro version uses I2SO.3 as the Chip Select (CS) signal.

⑲

Function: Installing these jumpers routes SPI signals to the onboard drivers.
Design: Arranged in common sequence order, compatible with most TMC drivers.
IMPORTANT: When using onboard SPI TMC drivers, remove ALL jumpers mentioned in Point ⑭ to avoid conflicts.
Compatibility: TMC drivers and standard drivers cannot be used simultaneously.

⑳

Function: This jumper cap inputs USB 5V into the circuit for testing purposes.
Important: Please remove it when using an external power supply.

㉑

Function: This port, when used with RJ12 or Bluetooth modules, can provide UART signals for pendant control.
Connectivity Options: Can connect to expanders via RJ12 modules, or connect to pendant through expanders.
Expander Benefit: The expander provides additional I/O inputs and outputs for the mainboard.
Compatibility Note: Cannot be used simultaneously with the onboard OLED, as both utilize GPIO.25 and GPIO.27 ports.

㉒

Function: This is the onboard OLED display interface.
Pinout Caution: Please note the positions of VCC and GND, as some OLED modules have different pin arrangements.
Compatibility: The OLED cannot be used simultaneously with expanders or pendant, as they all share the GPIO.25 and GPIO.27 ports.