Rockwell Automation Allen-Bradley Ultra3000, Руководство пользователя

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Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 37
Chapter 2 Servo Drive and System Comparisons
Digital I/O
This section describes digital inputs for Ultra3000 and Kinetix 5300 servo
drives.
Ultra3000 Servo Drive Digital Inputs
The digital inputs on the Ultra3000 servo drive have the following
characteristics and specifications.
For the Ultra3000 drives, there are eight optically isolated digital inputs. All
digital inputs have the same configuration, as shown in the following figure.
Figure 10 - Ultra3000 Drive Digital Input Circuit
Ultra3000 Servo Drive Outputs
The digital output and relay output on the Ultra3000 servo drive have the
following characteristics and specifications.
Table 26 - Ultra3000 Drives Digital Input Characteristics
Specification Description
I/O response 100 µs
Digital I/O firmware scan period 1 ms
Table 27 - Ultra3000 Drives Digital Input Parameters
Parameter Description Min Max
ON state voltage
Voltage applied to the input, with respect to
IOCOM, to guarantee an ON state.
10.8V 26.4V
ON state current Current flow to guarantee an ON State. 3.0 mA 12.0 mA
OFF state voltage
Voltage applied to the input, with respect to
IOCOM, to guarantee an OFF state.
-1.0V 2.0V
Table 28 - Ultra3000 Sercos Drives Dedicated Functionality Inputs
Pin Signal Description
CN1-31 ENABLE
Drive Enable Input, an active state enables the power electronics to control the
motor.
CN1-32 HOME
Home Sensor, an active state indicates to a homing sequence that the sensor has
been seen.
CN1-33
CN1-34
REG1
REG2
Registration Sensor, a transition is used to record position values.
CN1-37
CN1-38
OT_POS
OT_NEG
Overtravel Input, an inactive state indicates that a position limit has been exceeded.
An active state occurs when 24V is removed from the input.
+5V
INPUTS
IOCOM DGND IOCOM
Ultra3000