Rockwell Automation Publication 2094-UM002G-EN-P - August 2016 85
Connector Data and Feature Descriptions Chapter 4
Table 44 - EnDat Sine/Cosine Interface Specifications
Refer to page 81 for the EnDat sine/cosine interface schematic. It is identical to
the Stegmann Hiperface (MTR_SIN and MTR_COS) schematic.
Figure 46 - EnDat Sine/Cosine and EnDat Digital Interface Schematic for Serial Communication
Table 45 - EnDat Digital Interface Specifications
Attribute Value
Protocol EnDat Sine/Cosine
Memory support Unprogrammed
EnDat Sine/Cosine data communication 4 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
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
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 6200 or Kinetix 6500
Control Module
Attribute Value
Memory support Unprogrammed
EnDat Digital data communication 4 Mbps, synchronous
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