Rockwell Automation Publication 2198-UM004D-EN-P - December 2022 63
Chapter 3 Connector Data and Feature Descriptions
Analog Inputs
There are two analog inputs, COMMAND1 and COMMAND2, available on the
I/O connector. When the drive mode is configured for Speed or Torque, the
analog inputs are used for Torque and Speed commands.
Figure 31 - Analog COMMAND Input Configuration
Pulse Inputs
There are pulse inputs available on the 2198-TBIO connector. They support
either single-ended or differential pulse signals. When using the single-ended
signals, they can be wired as current sinking (PNP) or sourcing (NPN) inputs.
Figure 32 - Pulse Input - Single-ended Configuration (current sourcing)
Table 28 - Analog Input Specifications
Parameter Description
Analog inputs voltage –10 V… +10 Vs
Analog inputs resolution 11 bits, min
Analog inputs scan time 0.0625 ms, max
Analog inputs impedance 12 kΩ typical, approx.
AGND
±10V
10 kΩ
13
18
42
COMMAND1-Torque
COMMAND2-Speed
Analog GND
Servo Drive
Controller
I/O Connector with
2198-TBIO Expansion Block
DC
24V
1.5KΩ
51Ω
51 Ω
51Ω
1.5KΩ
Pulse i nput frequency (max):
200 kHz
51Ω
35
39
37
41
Pulse i nput frequency (max):
200 kHz
43
36
Pulse B+
BPWR
Pulse B–
APWR
Pulse A+
Pulse A–
Servo Drive
Controller
I/O Connector with
2198-TBIO Expansion Block
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