Rockwell Automation 2094-EN02D-M01-Sx Kinetix 6200 and Kinetix 6500 Modular Multi-axis Servo Drives User Manual - Manual (Page 80)

80 Rockwell Automation Publication 2094-UM002E-EN-P - May 2012
Chapter 4 Kinetix 6200 and Kinetix 6500 Connector Data
Feedback Specifications The control module accepts motor and auxiliary feedback signals from the
following types of encoders with these general specifications.
Table 34 - Motor and Auxiliary Feedback General Specifications
Absolute Position Feature
The drive’s absolute position feature tracks the position of the motor, within the
multi-turn retention limits, while the drive is powered off. The absolute position
feature is available with only these multi-turn encoders.
Table 35 - Absolute Position Designator Examples
Figure 39 - Absolute Position Retention Limits
(1) Absolute position retention limit (±64) for Heidenhain EnDat 2.2 is the worst case.
Attribute Motor Feedback Auxiliary Position Feedback
Feedback device support
• Stegmann Hiperface
• Generic TTL Incremental
• Generic Sine/Cosine Incremental
• Tamagawa 17-bit Serial
• Heidenhain EnDat 2.1
• Heidenhain EnDat 2.2 • Stegmann Hiperface
• Generic TTL Incremental
• Generic Sine/Cosine Incremental
• Heidenhain EnDat 2.1
• Heidenhain EnDat 2.2
Power supply voltage (MTR_EPWR5V) (1) 5.1…5.4V
Power supply current (MTR_EPWR5V) (1) 300 mA, max
Power supply voltage (MTR_EPWR9V) (1) 8.3…9.9V
Power supply current (MTR_EPWR9V) (1) 150 mA, max
Thermostat
Single-ended, under 500
Ω = no fault,
over 10 k
Ω = fault N/A
(1) The EPWR_5V and EPWR_9V power supplies are shared between the motor feedback interface and the auxiliary feedback interface on the I/O (IOD) connector.
TIP Auto-configuration in RSLogix 5000 software of intelligent absolute, high-
resolution, and incremental encoders is possible only with Allen-Bradley
motors.
Encoder Type
Motor Cat. No.
Designator
Motor Cat. No. Example
Stegmann Hiperface
-M MPL-B310P-M
-V MPL-B230P-V
Heidenhain EnDat -7 RDB-B21519-7
+2048 +1024 -2048 -1024 +64 -64
4096 turns, Kinetix 6200 drives, Stegmann Hiperface encoders
2048 turns, Kinetix 6500 drives, Stegmann Hiperface encoders
128 turns, Kinetix 6200 and Kinetix 6500 drives,
RDD-Series direct-drive motors or
Heidenhain EnDat 2.1 or 2.2 encoders on third-party motors (1)
Position at Power Down