Rockwell Automation Publication 2198-RM004C-EN-P - March 2022 41
Chapter 3 Connectors
Table 45 - I/O Connector Assignment Comparison
Kinetix 300 Servo Drives Kinetix 5100 Servo Drives
Pin Description Signal Description Signal
1 Master encoder A+/Step+ input MA+ Digital output OUTPUT4+
2 Master encoder A-/Step- input MA- Digital output OUTPUT3-
3 Master encoder B+/Direction+ input MB+ Digital output OUTPUT3+
4 Master encoder B-/Direction- input MB- Digital output OUTPUT2-
5 Reserved — Digital output OUTPUT2+
6 Reserved — Digital output OUTPUT1-
7 Buffered encoder output: channel A+ BA+ Digital output OUTPUT1+
8 Buffered encoder output: channel A- BA- Digital Input INPUT4
9 Buffered encoder output: channel B+ BB+ Digital Input INPUT1
10 Buffered encoder output: channel B- BB- Digital Input INPUT2
11 Buffered encoder output: channel Z+ BZ+ Common terminal for digital inputs, connected to +24V DC or 0V DCOM
12 Buffered encoder output: channel Z- BZ- Analog input signal ground AGND
13 Reserved — Analog input signal ground AGND
14 Reserved — Not in use -
15 Reserved — Analog monitor output 2 MON2
16 Reserved — Analog monitor output 1 MON1
17 Reserved — Not in use -
18 Reserved — Analog torque input COMMAND1
19 Reserved — Analog input signal ground AGND
20 Reserved — Not in use -
21 Reserved — Encoder A+ pulse output AMOUT+
22 Analog common ACOM Encoder A- pulse output AMOUT-
23 Analog output (max 10 mA) AO Encoder B- pulse output BMOUT-
24 Positive (+) of analog signal input AIN1+ Encoder Z- pulse output ZMOUT-
25 Negative (-) of analog signal input AIN1- Encoder B+ pulse output BMOUT+
26 Digital input group ACOM terminal IN_A_COM Digital output OUTPUT4-
27 Negative travel- limit switch IN_A1 Digital output OUTPUT5-
28 Positive travel limit switch IN_A2 Digital output OUTPUT5+
29 Inhibit/enable input IN_A3 Digital input INPUT9
30 Digital input A4 IN_A4 Digital input (High-Speed Input) INPUT8
31 Digital input group BCOM terminal IN_B_COM Digital input (High-Speed Input) INPUT7
32 Digital input B1 IN_B1 Digital input INPUT6
33 Digital input B2 IN_B2 Digital input INPUT5
34 Digital input B3 IN_B3 Digital input INPUT3
35 Digital input B4 IN_B4 External power input of BX+/BX- for single-end operation BPWR
36 Digital input Group CCOM Terminal IN_C_COM B+/DIR+/CCW+ BX+
37 Digital input C1 IN_C1 B-/DIR-/CCW- BX–
38 Digital input C2 IN_C2 Digital input INPUT10
39 Registration input sensor IN_C3 External power input of AX+/AX- for single-end operation APWR
40 Digital input C4 IN_C4 Digital output OUTPUT6-
41 Ready output collector RDY+ A-/Step-/CW- AX-
42 Ready output emitter RDY- Analog position and speed command input (+) COMMAND2
43 Programmable output #1 collector OUT1-C A+/Step+/CW+ AX+
44 Programmable output #1 emitter OUT1-E Analog input signal ground AGND
45 Programmable output #2 collector OUT2-C Not in use —
46 Programmable output #2 emitter OUT2-E Digital output OUTPUT6+
47 Programmable output #3 collector OUT3-C Not in use —
48 Programmable output #3 emitter OUT3-E Encoder Z pulse open-collector output OCZMOUT
49 Programmable output #4 collector OUT4-C Not in use —
50 Programmable output #4 emitter OUT4-E Encoder Z+ pulse output ZMOUT+
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