Rockwell Automation 2093-xxxx Kinetix 2000 Multi-axis Servo Drive User Manual - Manual (Page 51)

Publication 2093-UM001A-EN-P — March 2007
Kinetix 2000 Connector Data 51
IAM/AM Signal
Specifications Explained A description of the Kinetix 2000 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 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, 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/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 us 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