I/O Connectors X21/X22/X23

X21

  • 2 x 11 pins, pitch 3.5 mm
  • A: left connector
  • B: right connector
  

X22

  • 2 x 10 pins, pitch 3.5 mm
  • A: left connector
  • B: right connector
  

X23

  • SubD 15 pins HD
  • Mating connector: male
X21 Pin Signal   Pin Signal

A1

Analog-In (AIN) 1 +

 

B1

Analog-Out (AOUT) 1

A2

Analog-In (AIN) 1 -

B2

AGND

A3*

Digital-In (DIN) 1

B3

+24 V

A4*

Digital-In (DIN) 2

B4

DGND

A5

Digital-In (DIN) 3
(HW-Enable Axis 1)

B5

Digital-Out (DOUT) 9 + (Relay)

A6

Digital-In (DIN) 4
(HW-Enable Axis 2)

B6

Digital-Out (DOUT) 9 - (Relay)

A7

Digital-In (DIN) 5

B7

Digital-Out (DOUT) 1 SOUT1

A8

Digital-In (DIN) 6

B8

Digital-Out (DOUT) 2 SOUT2

A9

Digital-In (DIN) 7

B9

Digital-Out (DOUT) 3 SOUT3

A10

Digital-In (DIN) 8

B10

Digital-Out (DOUT) 4 SOUT4

A11

SIN1 STO-A-A1

B11

SIN2 STO-B-A1

 

X22 Pin Signal   Pin Signal

A12

SIN3 STO-A-A2, dual-axis

 

B12

SIN4 STO-B-A2, dual-axis

A13

Digital-In (DIN) 9

B13

Digital-Out (DOUT) 5

A14

Digital-In (DIN) 10

B14

Digital-Out (DOUT) 6

A15

Digital-In (DIN) 11

B15

Digital-Out (DOUT) 7 +

A16

Digital-In (DIN) 12

B16

Digital-Out (DOUT) 7 -

A17

AGND

B17

Digital-Out (DOUT) 8 +

A18

Analog-In (AIN) 2+

B18

Digital-Out (DOUT) 8 -

A19

Analog-In (AIN) 2-

B19

Analog-Out (AOUT) 2

A20*

Digital-In/Out (DIO) 1 +

B20*

Digital-In/Out (DIO) 2 +

A21*

Digital-In/Out (DIO) 1 -

B21*

Digital-In/Out (DIO) 2 -
X23 Pin
 Signal

2

Digital-In/Out (DIO) 6 +

3

Digital-In/Out (DIO) 6 -

6

Digital-In/Out (DIO) 5 +

7

Digital-In/Out (DIO) 5 -

10

+5 V

11

0 V

12

Digital-In/Out (DIO) 3 +

13

Digital-In/Out (DIO) 3 -

14

Digital-In/Out (DIO) 4 +

15

Digital-In/Out (DIO) 4 -

Technical data

Interface Electrical Data

Analog inputs
Analog-In (AIN) 1 to 2
  • ±10 VDC
  • common mode rejection ratio: > 30 dB at 60 Hz
  • resolution 16 bit and full monotonic
  • update rate: 16 kHz
  • non-linearity < 0.1% of full scale
  • offset drift max. 250 µV/°C
  • input impedance > 13 kΩ

Analog outputs
Analog-Out (AOUT) 1 to 2
  • 0 to +10 VDC, max 20 mA
  • resolution 16 bit and full monotonic
  • update rate: 4 kHz
  • non-linearity < 0.1% of full scale
  • offset drift max. 250 µV/°C
  • short circuit protected to AGND
  • output impedance 110 Ω

Digital inputs
Digital-In (DIN) 1 to 2
IEC 61131-2 Type 1
  • ON: 15 VDC to 30 VDC, 2 mA to 15 mA
  • OFF: -5 VDC to 5 VDC, max.15 mA
  • galvanic isolation for 60 VDC
  • activation / deactivation delay: < 1 µs / < 1 µs

Digital inputs
Digital-In (DIN) 3 to 12
IEC 61131-2 Type 1
  • ON: 15 VDC to 30 VDC, 2 mA to 15 mA
  • OFF: -5 VDC to 5 VDC, max.15 mA
  • galvanic isolation for 60 VDC
  • delay activation / deactivation: about 5 µs / 500 µs

Digital outputs
Digital-Out (DOUT) 1 to 65 to 6
  • max. 30 VDC, 100 mA
  • short circuit proof
  • galvanic isolation for 60 VDC
  • delay activation / deactivation: about 5 µs / 300 µs

Digital outputs
Digital-Out (DOUT) 7 to 8
  • volt-free contacts, max 30 VDC, 100 mA
  • sink or source
  • galvanic isolation for 24 VDC from PE
  • delay activation / deactivation: about 5 µs / 50 µs

Digital inputs/outputs
Digital-In/Out (DIO) 1 to 6
  • RS485, 5V, max 100mA
  • reference potential X22: AGND, X23: 0V
  • input OFF: -0.3 V to +0.3 V
  • selectable termination, difference/single ended
  • delay activation / deactivation: about 50 ns

Digital output
Digital-Out (DOUT) 9
  • max. 30 VDC, 1A
  • max. 42 VAC, 1 A
  • galvanic isolation for 24 VDC from PE
  • delay open/close: 10 ms / 10 ms

Safe digital inputs
Axis 1: STO-A-A1, STO-B-A1
Axis 2: STO-A-A2, STO-B-A2
  • ON: 17 VDC to 30 VDC, 5 mA to 6 mA
  • OFF: 0 VDC to 5 VDC, max.1 mA
  • galvanic isolation for 60 VDC
  • delay activation / dectivation about: 1.5 ms / 3.5 ms

Safe digital inputs
SIN1 to SIN4

  • ON: > 15 VDC, > 2 mA, OFF: < 5 VDC, < 1 mA
  • galvanic isolation for 60 VDC
  • delay activation / deactivation about: 1.5 ms / 3.5 ms
  • test pulse are required

Safe digital outputs
SOUT1 to SOUT4
  • volt-free contacts, max 30 VDC, 172 mA
  • short circuit proof
  • galvanic isolation for 24 VDC from PE
  • activation delay (0->1) depends on the safety function
  • hardware deactivation delay (1>0) about 300 µs
  • emits test pulses