50 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020
Chapter 3 Connectors and Indicators
Table 47 compares the I/O connector pinouts for the Ultra3000 drive (CN1
connector) and Kinetix 5100 servo drives (I/O connector).
Table 47 - I/O Connector Assignment Comparison
Ultra3000 Servo Drives Kinetix 5100 Servo Drives
CN1 Pin Description Signal I/O Pin Description Signal
1 Auxiliary Encoder Power Out (+5V) EPWR 1 Digital output OUTPUT4+
2 Common ECOM 2 Digital output OUTPUT3-
3 Auxiliary Logic Power In (+5V) AUXPWR 3 Digital output OUTPUT3+
4 Auxiliary Encoder CH A+ AX+ 4 Digital output OUTPUT2-
5 Auxiliary Encoder CH A- AX- 5 Digital output OUTPUT2+
6 Auxiliary Encoder CH B+ BX+ 6 Digital output OUTPUT1-
7 Auxiliary Encoder CH B- BX- 7 Digital output OUTPUT1+
8 Auxiliary Encoder CH I+ IX+ 8 Digital Input INPUT4
9 Auxiliary Encoder CH I- IX- 9 Digital Input INPUT1
10 Unbuffered Motor Encoder CH A+ AM+ 10 Digital Input INPUT2
11 Unbuffered Motor Encoder CH A- AM- 11
Common terminal for digital inputs, which are connected to
+24V DC or 0V
DCOM
12 Unbuffered Motor Encoder CH B+ BM+ 12 Analog input signal ground ACOM
13 Unbuffered Motor Encoder CH B- BM- 13 Analog input signal ground ACOM
14 Unbuffered Motor Encoder CH I+ IM+ 14 Not in use -
15 Unbuffered Motor Encoder CH I- IM- 15 Analog monitor output 2 AOUT2
16 Buffered Motor Encoder CH A+ AMOUT+ 16 Analog monitor output 1 AOUT1
17 Buffered Motor Encoder CH A- AMOUT- 17 Not in use -
18 Buffered Motor Encoder CH B+ BMOUT+ 18 Analog torque input COMMAND1
19 Buffered Motor Encoder CH B- BMOUT- 19 Analog input signal ground ACOM
20 Buffered Motor Encoder CH I+ IMOUT+ 20 Not in use -
21 Buffered Motor Encoder CH I- IMOUT- 21 Encoder A+ pulse output AMOUT+
22 Common ACOM 22 Encoder A- pulse output AMOUT-
23 Programmable Analog Output AOUT 23 Encoder B- pulse output BMOUT-
24 Analog Current Limit Input ILIMIT 24 Encoder Z- pulse output ZMOUT-
25 Command + COMMAND+ 25 Encoder B+ pulse output BMOUT+
26 Command - COMMAND- 26 Digital output OUTPUT4-
27 I/O Common IOCOM 27 Digital output OUTPUT5-
28 I/O Common IOCOM 28 Digital output OUTPUT5+
29 I/O Power IOPWR 29 Digital input INPUT9
30 I/O Power IOPWR 30 Digital input (High-Speed Input) INPUT8
31 Digital Input 1 INPUT1 31 Digital input (High-Speed Input) INPUT7
32 Digital Input 2 INPUT2 32 Digital input INPUT6
33 Digital Input 3 INPUT3 33 Digital input INPUT5
34 Digital Input 4 INPUT4 34 Digital input INPUT3
35 Digital Input 5 INPUT5 35 External power input of BX+/BX- for single-end operation BPWR
36 Digital Input 6 INPUT6 36 B+/DIR+/CCW+ BX+
37 Digital Input 7 INPUT7 37 B-/DIR-/CCW- BX-
38 Digital Input 8 INPUT8 38 Digital input INPUT10
39 Digital Output 1 OUTPUT1 39 External power input of AX+/AX- for single-end operation APWR
40 Digital Output 2 OUTPUT2 40 Digital output OUTPUT6-
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