Allen-Bradley Kinetix 6200 User Manual page 70

Chapter 4 Connector Data and Feature Descriptions
Function Description
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.
Enable
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.
An active state indicates to a homing sequence that the referencing sensor has
Home been seen. Typically, a transition of this signal is used to establish a reference
position for the machine axis.
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
Registration 2
position values for use in registration moves.
If the controller configuration specifies checking of the hardware over-travel
inputs, an inactive state indicates that a position limit has been exceeded in
Positive
the positive direction.
Over-travel
The drive generates an exception if the input is inactive when the controller
authorizes checking. The drive behavior in this situation is programmable.
If the controller configuration specifies checking of the hardware overtravel
inputs, an inactive state indicates that a position limit has been exceeded in
Negative
the negative direction.
Over-travel
The drive generates an exception if the input is inactive when the controller
authorizes checking. The drive behavior in this situation is programmable.
Regeneration An inactive state indicates that an external regenerative power supply has a
OK fault and a regenerative power supply exception is generated by the drive.
Attribute
Type
Assignable functions
Default function assignments (sercos)
Input current (with 24V applied)
On-state input voltage
Off-state input voltage
Pulse reject filtering
Home
Registration
All other functions
Propagation delay (Registration functions only)
Registration repeatability
Windowed registration invalid-to-valid event delay
Home-to-marker event delay
Input reaction time (Disable)
Input reaction time (Enable, Positive Over-travel, and Regeneration OK inputs)
(1) The default settings are overwritten by the Logix Designer configuration settings during phase-up or through sercos IDN Write instruction. Refer to Appendix F on
information on changing default settings.
70
Table 29 - Understanding Digital Input Functions
Table 30 - Digital Input Specifications
(1)
Rockwell Automation Publication 2094-UM002G-EN-P - August 2016
Default Behavior
The function is always inactive. If the controller instructs the drive
to monitor the Enable input, the drive issues a vendor-specific
initialization fault (Enable Input Assignment).
The function is always inactive. If the controller instructs the drive
to perform a home procedure, the drive issues a vendor-specific
exception (Sensor Assignment).
The function is always inactive. If the controller instructs the drive
to perform a registration procedure, the drive issues a vendor-
specific exception (Sensor Assignment).
The function is always inactive. If the controller instructs the drive
to monitor the hardware over-travel inputs, the drive issues a
vendor-specific initialization fault (Over-travel Input
Assignment).
The function is always inactive. If the controller instructs the drive
to monitor the hardware over-travel inputs, the drive issues a
vendor-specific initialization fault (Over-travel Input
Assignment).
The function is always active. If the controller instructs the drive
that a regenerative power supply with a fault output is present,
the drive issues a vendor-specific initialization fault
(Regeneration OK Input Assignment).
Value
Active high, single-ended, current sinking
Enable, Home, Positive Over-travel, Negative Over-travel,
Registration 1, Registration 2, and Regeneration OK
Input 1 = Enable
Input 2 = Home
11 mA, typical
21.6...26.4V @ 200 mA total
-1.0...3.0V
15 ms
1.0 μs, nom
1.0 ms, nom
10 μs
500 ns
125 μs, min
10 μs, min
25 ms, max
20 ms, max
IDN
Value
1
2
3
4
5
6
7
Input 3 = Registration 1
Input 4 = Registration 2
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