64 Rockwell Automation Publication 2099-UM001G-EN-P - December 2022
Chapter 3 Kinetix 7000 Connector Data
Motor (MF) and Auxiliary
Feedback (AF) Connections
The motor interface and auxiliary feedback interfaces are consistent across the
Kinetix product line. This section provides information on motor and auxiliary
feedback connections.
The Kinetix 7000 motor (MF) and auxiliary (AF) feedback ports can accept the
following encoder types:
• SRM/SRS Stegmann Hiperface encoders
• 5V TTL differential line driver with index pulse and hall commutation
• Sin/Cos differential input with index pulse and hall commutation
Motor feedback requires the RSLogix 5000 motion.db file to properly
commutate the motor. Motors available in RSLogix software include feedback
types that are designated as S and M in Allen-Bradley catalog numbers. Following
are further definitions of these feedback types.
• S type - single-turn 1024 cycles per rotation (interpolated to over 2 million
counts in the drive) For example, the MPL-B980D-SJ72AA has this
feedback type.
• M type - multi-turn 1024 cycles per rotation (interpolated to over 2
million counts in the drive). For example, the MPL-980D-MJ72AA has
this feedback type. The “M” type allows for 4096 cycles absolute retention
when the encoder is powered down.
Kinetix RDB or MMA motor feedback from EnDat absolute encoders is also
accepted, but only when using drive firmware revision 1.104 or higher and the
2090-K7CK-KENDAT low-profile feedback module.
Third-party motor requests must be pre-qualified and a custom motor file
developed. Contact your local distributor or Rockwell Automation Sale
Representative for more information.
Kinetix 7000 drives cannot drive open loop (no feedback) or other motor types
that are not defined in the Kinetix motor database.
Motor and Auxiliary Feedback Specifications
AM, BM, and IM input encoder signals are filtered using analog and digital
filtering. The inputs also include illegal state change detection. Figure 42
is a
schematic of the AM, BM, and IM inputs.
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