Wiring of Digital Inputs (X15, X16, X24, X26)

All digital inputs can be used to initiate pre-defined functions. A list of these pre-defined functions is included in WorkBench. If an input is programmed, it must be saved to the device memory. For more information refer to WorkBench.

Depending on the selected function, the inputs are high or low active. The inputs can be used with switched +24 V (source type) or switched GND (sink type). Digital input filter can be set in WorkBench to change sensitivity of the inputs (see Online Help).

Digital Inputs MKD-C (X15B)

Technical characteristics:

  • Floating, reference common line is DCOM
  • Sink or Source type sensors possible
  • High: 15 to 30 V / 2 to 15 mA , Low: -3 to +5 V / <1 mA
  • Update rate: firmware reads hardware input state every 250 µs

Wiring diagram:

Hardware Enable

Digital Input (terminal X15B/1) is set to the Hardware Enable function by default.

The Hardware Enable and the Software Enable signal (via fieldbus or WorkBench) are linked serial, that means wiring of Hardware Enable is mandatory.

The output stage of all drives, which are connected to the MKD-C are enabled by applying the ENABLE signal (Terminal X15B/1). Enable is only possible if the input STO-String 2 or 3 (valid for DC power strings 2 or 3) have a 24 V signal and Software Enable is set. In the disabled state the connected motors have no torque.

Digital Inputs MKD-N (X24)

On dual axis MKD-N modules connector X24A is used for axis 1, X24B is used for axis 2.

Digital Inputs 1 and 2

These inputs are particularly fast and are therefore suitable for latch functions, for example.

Technical characteristics:

  • Floating, reference common line is DCOM
  • Sink or Source type sensors possible
  • High: 15 to 30 V / 2 to 15 mA , Low: -3 to +5 V / <1 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 MKD capture engine is polled every 62.5 µs (16 kHz) by the firmware

Digital Input 3

Technical characteristics:

  • Floating, reference common line is DCOM
  • Sink or Source type sensors possible
  • High: 15 to 30 V / 2 to 15 mA , Low: -3 to +5 V / <1 mA
  • Update rate: firmware reads hardware input state every 250 µs

Wiring diagram:

*On MKD-N connector X24A is used for axis 1, X24B is used for axis 2 if built-in.

STO Enable inputs (X16, X26)

Connector X16 on MKD-C offers access to all global STO input signals of the decentral drive system powered by this MKD-C . There is one STO-Enable input for each decentral DC Power string (strings 2 and 3).

Connector X26 on MKD-N offers access to local STO input signals of the included axes in the MKD-N module. There is one local STO-Enable input for each axis.

For description of STO interface and functionality refer to STO (Safe Torque Off).