Rockwell Automation 2097-Vxxx Kinetix 350 Single-axis EtherNet/IP Servo Drive User Manual - Manual (Page 42)

42 Rockwell Automation Publication 2097-UM002C-EN-P - December 2013
Chapter 3 Kinetix 350 Drive Connector Data
Table 13 - Understanding Digital Input Functions
Table 14 - Digital Input Specifications
The digital inputs are optically isolated and sinks up to 24V DC. Electrical
details are shown in
Table 13 on page 42 . You can set up the inputs for PNP
sourcing or NPN sinking.
Function Description Behavior
Enable
If the controller configuration specifies checking of the enable input, an
active state enables the power electronics to control the motor and an
inactive state prevents motion.
The drive generates an exception if the input is inactive when the
controller commands motion and has authorized checking. The drive
behavior in this situation is programmable. By default drive enable input checking is enabled. If the checking is
authorized and the input is disabled the drive issues a Drive Enable
Start Inhibit and you are not be able to issue a Servo On instruction
from the controller.
To disable the Enable function:
• Tie input to 24V DC
• Write a Logix Designer message instruction that changes
enableInputChecking or Attribute 736 to zero, see instructions
on
page 100
Home
An active state indicates to a homing sequence that the referencing
sensor has been seen. Typically, a transition of this signal is used to
establish a reference position for the machine axis.
The function is always inactive unless armed by the controller.
Registration
An inactive-to-active transition (also known as a positive transition) or
active-to-inactive transition (also known as a negative transition) is
used to latch position values for use in registration moves.
Positive Over-travel
If the controller configuration specifies checking of the hardware over-
travel inputs, an inactive state indicates that a position limit has been
exceeded in the positive direction.
The drive generates an exception if the input is inactive when the
controller authorizes checking. The drive behavior in this situation is
programmable.
The function is always active.
To disable function:
• Tie input to 24V
• Set to only Fault Status
Negative Over-travel
If the controller configuration specifies checking of the hardware
overtravel inputs, an inactive state indicates that a position limit has
been exceeded in the negative direction.
The drive generates an exception if the input is inactive when the
controller authorizes checking. The drive behavior in this situation is
programmable.
Attribute Value
Type Active high, single-ended, current sinking
Functions
Enable, Home, Positive Over-travel, Negative Over-travel,
Registration
Input current (with 24V applied) 9 mA, max
On-state input voltage 4.2…24V @ 2…9 mA total
Off-state input voltage 0…2.5V
Pulse reject filtering (only Registration functions) 120 ns, nom
Pulse reject filtering, default (all other input functions, can be configured) 1.0 ms, nom
Propagation delay (only Registration function) 5 μs
Registration repeatability 200 ns
Input reaction time (Disable) 2 ms, max
Input reaction time (Enable, Positive Over-travel inputs) 2 ms, max