Specifications (continued)
Description Units Minimum Maximum Comment
Falling voltage threshold Vdc 1.01 2.77 A digital input is guaranteed to be read
as low if the voltage is less than 1.01
Vdc.
Time to change state in response to
step input
ms 1.5 Input change from maximum to
minimum—add to debounce time.
Input impedance
Input voltage < 5.7 Vdc kΩ 233 nominal—no pull up or pull down
pin configuration.
Input impedance
Input voltage < 5.7 Vdc kΩ 14.1 nominal—pull up or pull down pin
configuration.
Input impedance
Input voltage ≥ 5.7 Vdc kΩ 14.1 nominal—all pin configurations.
Analog (AIN)
Specifications
Description Units Minimum Maximum Comment
Allowed voltage at pin * Vdc 0 36** * Maximum allowed voltage on fixed
range analog input pins (CAN shield)
is 25 Vdc.
** MC050-055/05B input voltage
maximum is limited to 16 Vdc.
0 to 5 Vdc range Maximum
discernable voltage
Vdc 5.21 5.30 5.26 is typical.
0 to 36 Vdc rangeMaximum
discernable voltage
Vdc 31.70
Precision mV 1.28
Input impedance kΩ 206 236 Depends on pin configuration.
Analog Input Offset
Module analog input offset error can be 80 counts out of 4096 (12 bit resolution). Therefore, the
minimum voltage that a module will read at the 0 to 5.25 Vdc range is 105 mV. The minimum voltage that
a module will read at the 0 to 36 Vdc range is 703 mV.
The input offset error is a function of component tolerances and can vary from one module to the next.
When an input value is used in an algorithm where the offset error could impact the control strategy, the
way the signal is acquired and the need to calibrate should be considered.
A/D Refresh Rate
Analog to Digital (A/D) refresh rates for individual PLUS+1 modules are as follows. A/D channels are
sampled at 25 kHz and 64 samples are taken to build an average value. This results in a refresh rate of 2.56
ms for channels directly measured. All internal current feedback channels are refreshed at the 2.56 ms
rate.
Some PLUS+1 module A/D channels are shared. Each of the shared channels has eight multiplexed
analog inputs. Each multiplexed input is serviced every 20.48 ms. Update rates for specific analog input
Technical Information PLUS+1® Controller Family
Inputs/Outputs Types and Specifications
520L0719 • Rev PB • Feb 2014 9
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