54 Rockwell Automation Publication 2099-UM001D-EN-P - December 2012
Chapter 3 Kinetix 7000 Connector Data
Control Signal Specifications
This section provides specifications for the Kinetix 7000 drive input/output
(IOD), SERCOS, motor feedback (MF), auxiliary feedback (AF) and brake
(BC) connectors.
Digital Inputs (IOD Connector)
Two fast registration inputs and four other inputs are available for the machine
interface on the Kinetix 7000 drive. The drive supplies 24V DC @ 300 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
DC power and common connection is provided for each input.
Table 19 - Digital Input Descriptions
Table 20 - Digital Input Specifications
24V I/O Power
The Kinetix 7000 drive provides 24V DC power @ 300 mA total for the
HW_Enable_Pwr, Home_Switch_Pwr, Pos_OverTravel_Pwr,
Neg_OverTravel_Pwr, Reg_1_Pwr, and Reg_2_Pwr inputs on the specific drive.
The supply is protected with an automatically reset fuse. A temperature versus
time curve automatically controls closing of the fuse.
A common mode choke filters the registration power connection. An additional
common mode choke is provided for the remaining inputs.
To improve registration input EMC performance, see the System Design for
Control of Electrical Noise Reference Manual, publication GMC-RM001
.
IOD Pin Signal Description Capture Time Edge/Level
Sensitive
IOD-2 ENABLE Single 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 Single 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 μs uncertainty. Single optically isolated, single-
ended active high signal. Current loading is nominally 10mA. 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 a dual-input, 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 Leakage
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 10.0 mA —
OFF-state voltage Voltage applied to the input, with respect to IOCOM, to guarantee an OFF-state. -1.0V 3.0V <1.5 mA
Signals +24V_PWR and +24V_COM are a 24V DC source that can be used
only for the inputs listed below.
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