48 Rockwell Automation Publication 2099-UM001D-EN-P - December 2012
Chapter 3 Kinetix 7000 Connector Data
Kinetix 7000 drives do not natively support Heidenhain EnDat high-resolution
feedback. However, you can use the drive motor feedback connection with the
2090-K7CK-KENDAT feedback module to convert Heidenhain EnDat 2.1
high-resolution feedback from an RDD motor. Use the table below to connect
the motor feedback wires to the 2090-K7CK-KENDAT feedback module.
Table 13 - Connections for Heidenhain EnDat
Only 2099-BMxx-S drives with firmware revision 1.104 or higher support
the use of 2090-K7CK-KENDAT feedback modules.
Pin Description Signal Pin Description Signal
1 Sine differential input+ SIN+ 8 Serial data clock signal - CLK-
2 Sine differential input- SIN- 9 Serial data differential signal+ DATA+
3 Cosine differential input+ COS+ 10 Serial data differential signal - DATA-
4 Cosine differential input- COS- 11 Motor thermal switch+
(1)
TS+
5 Encoder power (+5V) EPWR_5V 12 Reserved —
6 Common ECOM 13 Reserved —
7 Serial data clock signal + CLK+
(1) Not applicable unless motor has integrated thermal protection.
Drive-to-motor power cables must not exceed 90 m (295.3 ft).
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