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Table 14 - Understanding the Digital Inputs
Pin Connector Signal Description
4
1
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).
4
2/3
REG1
Fast registration inputs are required to inform the motor
interface to capture the positional information with less
REG2
than 4 μs uncertainty. Optically isolated, single-ended
active high signal. Current loading is nominally 10 mA. A 24V
DC input is applied to this terminal.
2
2/3
OT+
Overtravel detection is available as an optically isolated,
single-ended active high signal. Current loading is nominally
OT-
10 mA per input. The pos/neg limit switch (normally closed
contact) inputs for each axis require 24V DC (nominal).
Table 15 - Digital Input Specifications
Parameter
Description
On-state voltage
Voltage applied to the input, with
respect to IOCOM, to assure an on-state.
On-state current
Current flow to guarantee an on-state.
Off-state voltage
Voltage applied to the input, with respect to IOCOM, to assure an
off-state.
Figure 18 - Standard Digital Input Circuits
I/O SUPPLY
INPUT
IO_COM
Customer-supplied
Input Device
(1) 24V DC source (range) = 21.6V - 26.4V (supplied by IPIM, not to exceed 250 mA total). Maximum current input = 10 mA.
Figure 19 - High Speed Digital Input Circuits
I/O SUPPLY
INPUT
IO_COM
Customer-supplied
Device
Rockwell Automation Publication 2094-UM003A-EN-P - May 2012
Kinetix 6000M System Connector Data
HOME, and OT+/OT-
REG1 and REG2
(1)
24V DC
3k Ω
0.1 μF
IDM
24V DC
2.49k Ω
0.001 μF
1.27k Ω
IDM
Chapter 4
Capture
Edge/Level
Time
Sensitive
30 ms
Level
500 ns
Edge
30 ms
Level
Min
Max
21.6V
26.4V
21.6V
26.4V
3.0 mA
10.0 mA
-1.0V
3.0V
511 Ω
49
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