66 Rockwell Automation Publication 2099-UM001G-EN-P - December 2022
Chapter 3 Kinetix 7000 Connector Data
The table provides a description of the AM and BM inputs for Sine/Cosine
encoders.
Table 28 - AM, BM, and IM Input Specifications for Sine/Cosine Encoders
Table 29 - Specifications for EnDat Encoders
Auxiliary Feedback (AF)
These requirements apply to the Auxiliary Feedback signals.
• For TTL devices, the position count increases when A leads B.
• For sinusoidal devices, the position count increases when cosine leads sine.
• TTL devices must be 5V devices within the input voltage specification.
• Use the Low Profile Connector Kit, catalog number 2090-K6CK-D15F to
access the Auxiliary Feedback signals. You must supply cabling that has
shielding, and other EMI protection for motor feedback cables.
IM Pulse Width Pulse width of the index input signal. Since the index
is active for a percentage of a revolution, the speed
determines the pulse width.
125 nS —
AM, BM Phase Error
2.5 MHz Line
Frequency
Amount that the phase relationship between the AM
and BM inputs can deviate from the nominal 90°.
-22.5° +22.5°
AM, BM Phase Error
1 MHz Line
Frequency
Amount that the phase relationship between the AM
and BM inputs can deviate from the nominal 90°.
-45° +45°
Parameter Description Minimum Maximum
Sine/cosine
Input Signal
Frequency
Frequency of the Sine or Cosine signal inputs. — 250 kHz
Sine/cosine
Input Voltage
Peak-to-peak input voltages of the Sine or Cosine
inputs.
0.5V (p-p) 2.0V (p-p)
Command Set Order
Designation
Description
EnDat Sine/Cosine EnDat 01 1V (p-p) Sin/Cos, <2 MHz clock frequency
Parameter Description Minimum Maximum
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