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Wire the I/O Terminal Expansion Block
Use the following pinout table to wire the I/O from your system.
I/O Terminal Expansion Block Pinout
IOD Pin
Description
1
Digital output 4+
2
Digital output 3-
3
Digital output 3+
4
Digital output 2-
5
Digital output 2+
6
Digital output 1-
7
Digital output1+
8
Digital input 4
9
Digital input 1
10
Digital input 2
Common for digital inputs,
11
connected to +24 or 0V DC
12
Analog input signal ground
13
Analog input signal ground
(1)
14
Reserved
15
Analog monitor output 2
16
Analog monitor output 1
(1)
17
Reserved
18
Analog torque input
19
Analog input signal ground
(1)
20
Reserved
21
Buffered encoder output Ch A+ AMOUT+
22
Buffered encoder output Ch A-
23
Buffered encoder output Ch B-
24
Buffered encoder output Ch Z-
25
Buffered encoder output Ch B+ BMOUT+
(1) The reserved pins are not present on I/O terminal expansion block.
Signal
OUTPUT4+
OUTPUT3-
OUTPUT3+
OUTPUT2-
OUTPUT2+
OUTPUT1-
OUTPUT1+
INPUT4
INPUT1
INPUT2
DCOM
AGND
AGND
—
AOUT2
AOUT1
—
COMMAND1
AGND
—
AMOUT-
BMOUT-
ZMOUT-
Rockwell Automation Publication 2198-IN020A-EN-P - August 2019
Kinetix 5100 I/O Terminal Expansion Block
IOD Pin
Description
26
Digital output 4-
27
Digital output 5-
28
Digital output 5+
29
Digital input 9 (High speed)
30
Digital input 8
31
Digital input 7
32
Digital input 6
33
Digital input 5
34
Digital input 3
External power input of BX+/BX-
35
for single-end operation
36
Pulse input B+/DIR+/CCW+
37
Pulse input B-/DIR-/CCW-
38
Digital input 10 (High speed)
External power input of AX+/AX-
39
for single-end operation
40
Digital output 6-
41
Pulse input A-/Step-/CW-
Analog position or speed command
42
input
43
Pulse input A+/Step+/CW+
44
Analog input signal ground
(1)
45
Reserved
46
Digital output 6+
(1)
47
Reserved
Buffered Encoder Output Ch Z open
48
collector
(1)
49
Reserved
50
Buffered encoder output Ch Z+
Drain wire
Signal
OUTPUT4-
OUTPUT5-
OUTPUT5+
INPUT9
INPUT8
INPUT7
INPUT6
INPUT5
INPUT3
BPWR
BX+
BX-
INPUT10
APWR
OUTPUT6-
AX-
COMMAND2
AX+
AGND
—
OUTPUT6+
—
OCZMOUT
—
ZMOUT+
3
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