The four module expansion slots are directed to the two main connectors of the controller. Connector A and B. If a module is plugged into a specific expansion slot, one half of the corresponding connector is used to interface this module. The picture below gives an overview of the connectors with their related module expansion slots.
Connector B ( on the left in this view) is also used for controller supply, a controller enable- and reset-input and a CAN bus interface. Connector A also offers a CAN bus interface and on top of that two controller enable inputs.
The picture below shows the connector pinning from the Input Module. Be aware of the different pinouts when the module is plugged into even or odd module slots.
For example let’s assume an Output Module is plugged into expansion slot 4:
- The corresponding connector is B
- The sensor ground pins are: 26,27,28
- The input signal pins, in sequence, are: 1,10,18,2,11,19,3,12,20,29