Rockwell Automation Allen-Bradley Kinetix 2000, Migration Manual

Page: 36 / 76

36
Rockwell Automation Publication 2093-AP001A-EN-P - May 2014
Chapter 2 Servo Drive and System Comparisons
Digital Inputs
This section describes digital inputs for Kinetix 2000 and Kinetix 5500 servo
drives.
Kinetix 2000 Servo Drive Digital Inputs
Two fast registration inputs and four other inputs are available for the machine
interface on the integrated axis module (IAM) and axis module (AM). Each IAM
and AM supplies 24V DC @ 300 mA total for the purpose of registration, home,
enable, over-travel positive, and over-travel negative inputs. These are sinking
inputs that require a sourcing device. A 24V power and common connection is
provided for each input.
Digital Input Signal Specifications
Digital Input Specifications
IMPORTANT
To improve registration input EMC performance, see the System Design for
Control of Electrical Noise Reference Manual, publication GMC-RM001.
IMPORTANT
Overtravel limit input devices must be normally closed.
IOD/AF Pin Signal Description System Reaction Time
(1)
Edge/Level Sensitive
IOD/AF-43 ENABLE Optically isolated, single-ended active high signal. Current loading is nominally 10 mA.
A 24V DC input is applied to this terminal to activate each axis. 10...21 ms Level
IOD/AF-40 HOME Optically isolated, single-ended active high signal. Current loading is nominally 10 mA.
Home switch (normally open contact) inputs for each axis require 24V DC (nominal). 10...21 ms Level
IOD/AF-26
IOD/AF-23 REG1
REG2 Fast registration inputs are required to inform the motor interface to capture the
positional information with less than 3 μs uncertainty. Optically isolated, single-ended
active high signal. Current loading is nominally 10 mA. A 24V DC input is applied to this
terminal to activate each axis. 3 μs Edge
IOD/AF-37
IOD/AF-29 OT+
OT- Overtravel detection is available as an optically isolated, single-ended active high
signal. Current loading is nominally 10 mA per input. The pos/neg limit switch
(normally closed contact) inputs for each axis require 24V DC (nominal). 10...21 ms Level
(1) System reaction time is a function of the input signal, SERCOS ring time, and application code scan time.
Parameter Description Min Max
On-state voltage Voltage applied to the input, with respect to
IOCOM, to guarantee an on-state. ENABLE, HOME, and OT+/OT- 10.8V 26.4V
REG1 and REG2 21.6V 26.4V
On-state current Current flow to guarantee an on-state. 3.0 mA 10.0 mA
Off-state voltage Voltage applied to the input, with respect to IOCOM, to guarantee an off-state. -1.0V 3.0V