Rockwell Automation Allen-Bradley Kinetix 6000, User Manual

Page: 60 / 268

Publication 2094-UM001A-EN-P — September 2006
60 Kinetix 6000 Connector Data
Understanding IAM/AM
Signal Specifications A description of the Kinetix 6000 IAM/AM input/output (IOD),
SERCOS, contactor enable (CED), brake (BC), and control power
(CPD) connectors is provided on the following pages.
Digital Inputs
Two fast registration inputs and four other inputs are available for the
machine interface on the integrated sxis module (IAM) and axis
module (AM). Each IAM and AM supplies 24V dc @ 500 mA 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.
Understanding Digital Inputs
Digital Input Specifications
IMPORTANT
To improve registration input EMC performance, refer to the
System Design for Control of Electrical Noise Reference
Manual, publication GMC-RM001.
IMPORTANT
Overtravel limit input devices must be normally closed.
IOD Pin Signal Description
Capture
Time Edge/Level
Sensitive
IOD-2 ENABLE
Optically isolated, single-ended active high signal. Current loading is
nominally 10 mA. A 24V dc input is applied to this terminal to enable each
axis.
20 ms Level
IOD-5 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).
20 ms Level
IOD-14
IOD-17 REG1
REG2
Fast registration inputs are required to inform the motor interface to
capture the positional information with less than 3
μ
s uncertainty. Optically
isolated, single-ended active high signal. Current loading is nominally
10 mA. A 24V dc input is applied to this terminal to enable each axis.
500 ns Edge
IOD-8
IOD-11 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).
20 ms Level
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