62 Rockwell Automation Publication 2198-UM001M-EN-P - November 2022
Chapter 4 Connector Data and Feature Descriptions
Understand Control Signal
Specifications
This section provides a description of the Kinetix 5500 digital inputs, Ethernet
communication, power and relay specifications, encoder feedback
specifications, and Safe Torque Off features.
Digital Inputs
Two digital inputs are available for the machine interface on the IOD
connector. Digital inputs require a 24V DC @ 15 mA supply. These are sinking
inputs that require a sourcing device. A common and cable shield connection
is provided on the IOD connector for digital inputs.
The Registration 1 input is capable of dual functionality. You can also use this
as the Home input. Configuration for dual functionality is not needed.
Figure 34 - Digital Input Circuitry
IMPORTANT To improve registration input EMC performance, refer to the System
Design for Control of Electrical Noise Reference Manual, publication
GMC-RM001.
Table 30 - Understand Digital Input Functions
Function Description Default Behavior
Home/Reg1
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. You can enable in the Logix
Designer application.
Registration 1 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.
Registration 2
Positive overtravel
Negative overtravel
The positive/negative limit switch (normally closed contact) inputs for each
axis require 24V DC (nominal).
Table 31 - Digital Input Specifications
Attribute Value
Type Active high, single-ended, current sinking (EN 61131-2 Type 1)
Dedicated functions Registration 1, Home, Registration 2, Positive overtravel, Negative overtravel
Input current (with 24V applied) 12 mA, typical
On-state input voltage 15…30V @ 15 mA, max
Off-state input voltage -1.0…5.0V
Pulse reject filtering (registration functions) 12.0 µs
Pulse reject filtering (home input function) debounce filter 20 ms, nom
Propagation delay (registration functions) 0 (delay compensated)
Registration accuracy ±3 µs
Registration repeatability 700 ns
Windowed registration invalid-to-valid event delay 125 µs, min
INPUT
COM
INx
IOD-1 or IOD-3
IOD-2
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