Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
41
Chapter 3 Connectors
Table 45 - I/O Connector Assignment Comparison
Kinetix 300 Servo Drives
Kinetix 5100 Servo Drives
Pin
Description
Signal
Description
Signal
1
Master encoder A+/Step+ input
MA+
Digital output
2
Master encoder A-/Step- input
MA-
Digital output
OUTPUT3-
3
Master encoder B+/Di input
MB+
Digital output
4
Master encoder B-/Direction- input
MB-
Digital output
OUTPUT2-
5
Reserved
—
Digital output
6
Reserved
—
Digital output
OUTPUT1-
7
Buffered encoder output: channel A+
BA+
Digital output
8
Buffered encoder output: channel A-
BA-
Digital Input
INPUT4
9
Buffered encoder output: channel B+
BB+
Digital Input
INPUT1
10
Buffered encoder output: channel B-
BB-
Digital Input
INPUT2
11
Buffered encoder output: channel Z+
BZ+
Common terminal for digital inputs, connected to +24V DC or 0V
DCOM
12
Buffered encoder output: channel Z-
BZ-
Analog input signal ground
AGND
13
Reserved
—
Analog input signal ground
AGND
14
Reserved
—
Not in use
-
15
Reserved
—
Analog monitor output 2
MON2
16
Reserved
—
Analog monitor output 1
MON1
17
Reserved
—
Not in use
-
18
Reserved
—
Analog torque input
COMMAND1
19
Reserved
—
Analog input signal ground
AGND
20
Reserved
—
Not in use
-
21
Reserved
—
Encoder A+ pulse output
AMOUT+
22
Analog common
ACOM
Encoder A- pulse output
AMOUT-
23
Analog output (max 10 mA)
AO
Encoder B- pulse output
BMOUT-
24
Positive (+) of analog signal input
AIN1+
Encoder Z- pulse output
ZMOUT-
25
Negative (-) of analog signal input
AIN1-
Encoder B+ pulse output
BMOUT+
26
Digital input group ACOM terminal
IN_A_COM
Digital output
OUTPUT4-
27
Negative travel- limit switch
IN_A1
Digital output
OUTPUT5-
28
Positive travel limit switch
IN_A2
Digital output
29
Inhibit/enable input
IN_A3
Digital input
INPUT9
30
Digital input A4
IN_A4
Digital input (High-Speed Input)
INPUT8
31
Digital input group BCOM terminal
IN_B_COM
Digital input (High-Speed Input)
INPUT7
32
Digital input B1
IN_B1
Digital input
INPUT6
33
Digital input B2
IN_B2
Digital input
INPUT5
34
Digital input B3
IN_B3
Digital input
INPUT3
35
Digital input B4
IN_B4
External power input of BX+/BX- for single-end operation
BPWR
36
Digital input Group CCOM Terminal
IN_C_COM
B+/DIR+/CCW+
BX+
37
Digital input C1
IN_C1
B-/DIR-/CCW-
BX–
38
Digital input C2
IN_C2
Digital input
INPUT10
39
Registration input sensor
IN_C3
External power input of AX+/AX- for single-end operation
APWR
40
Digital input C4
IN_C4
Digital output
OUTPUT6-
41
Ready output collector
RDY+
A-/Step-/CW-
AX-
42
Ready output emitter
RDY-
Analog position and speed command input (+)
COMMAND2
43
Programmable output #1 collector
OUT1-C
A+/Step+/CW+
AX+
44
Programmable output #1 emitter
OUT1-E
Analog input signal ground
AGND
45
Programmable output #2 collector
OUT2-C
Not in use
—
46
Programmable output #2 emitter
OUT2-E
Digital output
47
Programmable output #3 collector
OUT3-C
Not in use
—
48
Programmable output #3 emitter
OUT3-E
Encoder Z pulse open-collector output
OCZMOUT
49
Programmable output #4 collector
OUT4-C
Not in use
—
50
Programmable output #4 emitter
OUT4-E
Encoder Z+ pulse output
ZMOUT+
