Rockwell Automation 2094-EN02D-M01-Sx Kinetix 6200 and Kinetix 6500 Modular Multi-axis Servo Drives User Manual - Manual (Page 85)

Rockwell Automation Publication 2094-UM002E-EN-P - May 2012 85
Kinetix 6200 and Kinetix 6500 Connector Data Chapter 4
Table 39 - Generic Sine/Cosine Incremental Specifications
Refer to page 82 for the generic sine/cosine interface schematic. It is identical to
the Stegmann Hiperface (MTR_AM and MTR_BM) signals schematic.
Refer to page 84 for the Hall (MTR_S1, MTR_S2, and MTR_S3) signals
schematic.
Table 40 - Tamagawa 17-bit Serial Specifications
Refer to page 82 for the Tamagawa 17-bit serial interface schematic. It is identical
to the Stegmann Hiperface (MTR_DATA) signals schematic.
Attribute Value
Sine/Cosine interpolation 2048 counts/sine wave period
Input frequency
(MTR_SIN and MTR_COS)
250 kHz, max
Differential input voltage
(MTR_SIN and MTR_COS)
0.6…1.2V, p-p
Line loss detection
(MTR_SIN and MTR_COS)
Average (sin
2
+ cos
2
) > constant
Noise filtering
(MTR_SIN and MTR_COS)
Two-stage coarse count pulse reject filter with rejected pulse tally
Commutation verification
Commutation angle verification performed at every Hall signal
transition
Hall inputs
(MTR_S1, MTR_S2, and MTR_S3)
Single-ended, TTL, open collector, or none
Attribute Value
Tamagawa model support TS5669N124
Protocol Tamagawa proprietary
Memory support Programmed with Allen-Bradley motor data
Differential input voltage 1.0…7.0V
Data communication 2.5 Mbps, 8 data bits, no parity
Battery 3.6V, located external to drive in low-profile connector kit