44 Rockwell Automation Publication 2071-UM001E-EN-P - November 2013
Chapter 3 Kinetix 3 Drive Connector Data
Digital Outputs
There are three digital outputs, OUTPUT1…OUTPUT3 available on the IOD
connector. Outputs are optically isolated open collector/emitter and are fully
isolated from the drive circuits. Each output, OUTPUT1…OUTPUT3, can be
assigned to one of these functions.
The fault outputs, FAULT1…FAULT3, can be reassigned through the parameter
setting giving you three additional digital outputs, OUTPUT4…OUTPUT6.
The drive contains four alarm outputs. The four alarm outputs include the alarm
signals FAULT+ and FAULT- and three bits of fault information,
FAULT1…FAULT3.
Output Function States
Fault </S_ALM> This output is not configurable. It is ON when the drive is healthy,
and OFF when the drive has a fault condition.
Within Position Window </P-COM (+, -)> This output turns ON when the position error is less than [Pr5.00
- In Position Size].
Up to Speed </TG-ON (+, -)> This output turns ON when the motor velocity feedback is greater
than [Pr5.04 - Up to Speed].
Brake <BK (+, -)> This output controls the brake installed inside or outside of the
servo motor.
Within Speed Window </V-COM (+, -)> This output turns ON when the velocity error is less than [Pr5.03 -
Speed Window].
Current Limited </T-LMT (+, -)> This output turns to ON when torque reaches the set value of the
torque limit.
Velocity Limited </V-LMT (+, -)> This output turns to ON when speed reaches the set value of the
speed limit.
Within Near Position </NEAR (+, -)> This output turns ON when the position error is less than [Pr5.02
- Near Position Size].
Warning </WARN (+, -)> This output turns ON when the drive encounters a condition that
generates a warning.
Absolute Position Valid </A_VLD> This output turns ON when the drive has a motor with an
absolute encoder attached, and the drive has properly read the
position from the motor.
Ready </RDY> This output turns ON when the drive is not faulted, and can be
enabled.
In Motion </IMO (+, -)> This output turns ON while the axis is being actively controlled by
an index and the motor is moving.
In Dwell </I_DW> This output turns ON when the axis is actively controlled by an
index, but is not moving. This occurs during the stand-by time
for each index (if configured).
Axis Homed </HOMC (+,-)> This output turns ON after completion of the homing routine.
Index Select 0 Output </O_ISEL0> Use this to output the index number in use in the selected
indexing operation.
Index Select 1 Output </1_ISEL0>
Index Select 2 Output </2_ISEL0>
Index Select 3 Output </3_ISEL0>
Index Select 4 Output </4_ISEL0>
Index Select 5 Output </5_ISEL0>
End of Sequence </E_SEQU> Turns to ON when the index movement is complete.
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