8.15.5 Digital Inputs
The drive provides 8 digital inputs on X21. Dual axis drives and drives with built-in option IO
or DX offer additional 4 inputs on X22 and 2 programmable Input/Outputs on X22. If X23 is
built-in and not used for feedback or EEO function, then it offers 4 additional programmable
Input/Outputs.
All inputs can be used to initiate pre-programmed actions. A list of actions is included in the
WorkBench. If an input is programmed, it must be saved to the drive.
The drive provides 4 safe digital inputs on X21 and X22. These inputs can be used as safe
inputs, based on the installed functional option (
Maximum distance for unshielded I/O lines is 3 m inside the cabinet. If the I/O cable leaves
the cabinet, it must be EMC shielded.
Depending on the selected function, the inputs are high or low active. Digital input filter can
be set in WorkBench to change sensitivity of the inputs (see Online Help).
8.15.5.1 Digital-In 1 and 2
These inputs (IEC 61131-2 Type 1) are particularly fast and are therefore suitable for position
latch functions. They can also be used as 24 V inputs for electronic gearing (
Technical characteristics
Floating, reference common line is DGND
High: 11 to 30 V/2 to 15 mA , Low: -5 to +5 V/<15 mA
Update rate: firmware reads hardware input state every 250 µs
High accuracy latch: motor feedback position or interpolated time is latched or captured
within 2 µs of input signal transition (with digital input filter set to 40 ns)
The AKD2G capture engine is polled every 62.5 µs (16 kHz) by the firmware
Wiring example
AKD2G-S Installation Manual, Safety 1 | 8 Electrical Installation
Kollmorgen | kdn.kollmorgen.com | July 2020
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