Allen-Bradley Kinetix 6200 User Manual page 85

Table 44 - EnDat Sine/Cosine Interface Specifications
Attribute
Protocol
Memory support
EnDat Sine/Cosine data communication
Sine/Cosine interpolation
Input frequency
(MTR_SIN and MTR_COS)
Differential input voltage
(MTR_SIN and MTR_COS)
Line loss detection
(MTR_SIN and MTR_COS)
Noise filtering
(MTR_SIN and MTR_COS)
Incremental position verification
Refer to page 81 for the EnDat sine/cosine interface schematic. It is identical to
the Stegmann Hiperface (MTR_SIN and MTR_COS) schematic.
Figure 46 - EnDat Sine/Cosine and EnDat Digital Interface Schematic for Serial Communication
Kinetix 6200 or Kinetix 6500
Control Module
Table 45 - EnDat Digital Interface Specifications
Attribute
Memory support
EnDat Digital data communication
Rockwell Automation Publication 2094-UM002G-EN-P - August 2016
Connector Data and Feature Descriptions
Value
EnDat Sine/Cosine
Unprogrammed
4 Mbps, synchronous
2048 counts/sine wave period
250 kHz, max
0.6...1.2V, p-p
2 2
Average (sin + cos ) > constant
Two-stage coarse count pulse reject filter with rejected pulse tally
Position compare between incremental accumulator and serial data
performed every 50 ms or less.
Shaded area indicates components that are part of the circuit, but support
other feedback device types (not used for EnDat support).
Value
Unprogrammed
4 Mbps, synchronous
Chapter 4
85