Rockwell Automation Allen-Bradley Kinetix 5700 - Page 113

Rockwell Automation Publication 2198-UM002L-EN-P - October 2021 113
Chapter 4 Connector Data and Feature Descriptions
Refer to Encoder Phasing Definitions on page 115 for encoder phasing
alignment diagrams.
Table 56 - Generic Sine/Cosine Incremental Specifications
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
Commutation verification
(1)
(1) These could be with or without HALL effects (UVW). Refer to Commutation Self-sensing Startup on page 436.
Commutation angle verification performed at the first Hall signal
transition and periodically verifies thereafter
Hall inputs
(MTR_S1, MTR_S2, and MTR_S3)
Single-ended, TTL, open collector, or none
Table 57 - EnDat Sine/Cosine Interface Specifications
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.
Table 58 - EnDat Digital Interface Specifications
Attribute Value
EnDat Digital data communication 4 Mbps, synchronous
Table 59 - Support Requirements for EnDat Encoders
Requirement EnDat Sine/Cosine EnDat Digital
Supported models
LC 483
ECl 119
(1)
ECN 113
ECN 1313/EQN 1325
ECN 413/EQN 425
ROQ 425
ECI 1118/EQI 1130
(1) ECI119 can be procured as either EnDat Sin/Cos or EnDat Digital.
LIC 4000
ECl 119
(1)
ROQ 437
ECN 1123/ EQN 1135
ECN 1325 / EQN 1337
ECI 1319/EQI 1331
ECN 125
Position initialization Digital
Position tracking Uses sine/cosine signals Digital
Data frequency 100 kHz 4.125 MHz
Sine/cosine frequency 0…250 kHz –
IMPORTANT
To properly support system EnDat feedback, the keying configuration in
drive Module Properties of the Logix Designer application must be
selected to use Kinetix 5700 drive firmware revision 5.0 or later.
IMPORTANT
Unprogrammed Smart feedback devices (Hiperface Sin/Cos, Hiperface
DSL, EnDat Sin/Cos, and EnDat Digital) are not supported.
Unprogrammed as load or feedback-only feedback types are supported,
except unprogrammed Hiperface DSL encoders. Contact your local
distributor or Rockwell Automation representative for support options.