46 Rockwell Automation Publication 2099-UM001G-EN-P - December 2022
Chapter 3 Kinetix 7000 Connector Data
Kinetix 7000 drives do not natively support EnDat absolute encoders. However,
you can use the drive motor feedback connection with the 2090-K7CK-
KENDAT feedback module to convert EnDat sine/cosine absolute encoder
from a Kinetix RDB or MMA motor. Use the table below to connect the motor
feedback wires to the 2090-K7CK-KENDAT feedback module. See Low-profile
EnDat Feedback Modules, publication 2090-IN020
for additional information.
Table 13 - Connections for 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).
Table 14 - Kinetix MMA Motor Feedback Connector
(1)
Pin
Catalog Number
Encoder Designation
(2)
Description Pin
Catalog Number
Encoder Designation
(2)
DescriptionS1, M1 S3, M3 S1, M1 S3, M3
SFS60,
SFM60
ECN413,
ENQ425
SFS60,
SFM60
ECN413,
ENQ425
1 — — A quad B: A differential signal + 7 — CLK+ Serial data clock differential signal +
SIN+ SIN+ 1V p-p sine differential signal + 8 — CLK- Serial data clock differential signal -
2 — — A quad B: A differential signal - 9 — —
SIN- SIN- 1V p-p sine differential signal - 10 — —
3 — — A quad B: B differential signal + 11
(3)
EPWR 9V EPWR 9V 9V DC encoder power
COS+ COS+ 1V p-p cosine differential signal + 12 ECOM ECOM Encoder power common
4 — — A quad B: B differential signal - 13 TS+ TS+ Thermostat differential signal +
COS- COS- 1V p-p cosine differential signal - 14 TS- TS- Thermostat differential signal -
5 DATA+ DATA+ Serial data differential signal + 15 — —
— — Index differential signal + 16 PT1 PT1 PT1000 differential signal +
6 DATA- DATA- Serial data differential signal - 17 PT2 PT2 PT1000 differential signal -
— — Index differential signal -
(1) Kinetix 7000 drives do not support incremental encoders; compatibility with Kinetix 7000 drives is limited to Hiperface and EnDat sine/cosine encoders.
(2) S1 = 1024 sin/cos, Absolute Single-turn Encoder (Hiperface protocol), S3 = 2048 sin/cos, Absolute Single-turn Encoder (EnDat protocol), M1 = 1024 sin/cos, Absolute Multi-turn Encoder (Hiperface
protocol), M3 = 2048 sin/cos Absolute Multi-turn Encoder (EnDat protocol)
(3) Additional modifications may be needed to convert the drive 5V power to receive the Kinetix MMA 9V power.
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