Rockwell Automation 2099-BMxx Kinetix 7000 High Power Servo Drive User Manual - Manual (Page 68)

68 Rockwell Automation Publication 2099-UM001D-EN-P - December 2012
Chapter 3 Kinetix 7000 Connector Data
The table provides a description of the AM and BM inputs for Sine/Cosine
encoders.
Table 27 - AM, BM and IM Input Specifications for Sine/Cosine Encoders
Table 28 - Specifications for Heidenhain EnDat Encoders
Auxiliary Feedback (AF)
These requirements apply to the Auxiliary Feedback signals.
• For TTL devices, the position count increases when A leads B.
• For sinusoidal devices, the position count increases when cosine leads sine.
• TTL devices must be 5V devices within the input voltage specification.
• Use the Low Profile Connector Kit, catalog number 2090-K6CK-D15F to
access the Auxiliary Feedback signals. You must supply cabling that has
shielding, and other EMI protection for motor feedback cables.
Feedback Power Supply
The power circuit board generates the +5V and +9V DC for the motor and
auxiliary feedback power supplies. Short-circuit protection and separate common
mode filtering for each channel is included.
• MPx-B, and HPK-B and -E motors all use 9V power sources from the MF
connector.
• Compatible Auxiliary Feedback devices include Stegmann Hiperface,
Sine/Cosine, and 5V TTL encoder types. Note: Heidenhain EnDat 2.1
encoders are only compatible when using the 2090-K7CK-KENDAT
feedback module, however an interface module does not exist for the
auxiliary encoder input.
IM Pulse Width Pulse width of the index input signal. Since the index
is active for a percentage of a revolution, the speed
will determine the pulse width. 125 nS —
AM, BM Phase Error
2.5 MHz Line
Frequency Amount that the phase relationship between the AM
and BM inputs can deviate from the nominal 90°. -22.5° +22.5°
AM, BM Phase Error
1 MHz Line
Frequency Amount that the phase relationship between the AM
and BM inputs can deviate from the nominal 90°. -45° +45°
Parameter Description Minimum Maximum
Sine/cosine
Input Signal
Frequency Frequency of the Sine or Cosine signal inputs. — 250 kHz
Sine/cosine
Input Voltage Peak-to-peak input voltages of the Sine or Cosine
inputs. 0.5V (p-p) 2.0V (p-p)
Command Set Order
Designation Description
EnDat 2.1 EnDat 01 1V (p-p) Sin/Cos, <2 MHz clock frequency
Parameter Description Minimum Maximum