120 Rockwell Automation Publication 2198-UM002G-EN-P - February 2019
Chapter 4 Connector Data and Feature Descriptions
EnDat Sine/Cosine Feedback
Table 55 - EnDat Sine/Cosine Interface Specifications
Refer to page 116 for the EnDat sine/cosine interface schematic. It is identical
to the Stegmann Hiperface (MTR_SIN and MTR_COS) schematic.
Figure 75 - EnDat Sin/Cos and EnDat Digital Interface Schematic for Serial Communication
Attribute Value
Protocol EnDat Sine/Cosine
EnDat Sine/Cosine data communication 2 Mbps, synchronous
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
Incremental position verification
Position compare between incremental accumulator and serial
data performed every 50 ms or less.
Shaded area indicates components that are part of the circuit, but support
other feedback device types (not used for EnDat support).
Kinetix 5700
Servo Drive
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