Allen-Bradley Kinetix 6200 User Manual

86 Rockwell Automation Publication 2094-UM002G-EN-P - August 2016
Chapter 4 Connector Data and Feature Descriptions
Table 46 - Support Requirements for EnDat Encoders on Third-party Motors
Auxiliary Position Feedback Specifications
The Kinetix 6200 and Kinetix 6500 control modules support multiple types of
feedback devices by using the 44-pin (IOD) connector and sharing connector
pins in many cases.
Requirement EnDat Sine/Cosine EnDat Digital
EnDat Digital
(with sine/cosine)
Supported models
ECI1319 / EQI1331
ECI1118 / EQI1130
ECI119
(1)
LC483
LIC4000
ECN125
ROQ437
ECN1123 / EQN1135
ECN1325 / EQN1337
ECN113
ECN1313 / EQN1325
ECN413 / EQN425
ROQ425
Cable length, max 50 m (164 ft)
Position initialization Digital
Position tracking Uses sine/cosine signals Digital Uses sine/cosine signals
Cabling Shielded, twisted pair Heidenhain EnDat Digital cable only Shielded, twisted pair
Blob programming Not required
Commissioning/
field replacement
Kinetix 6200 or Kinetix 6500 drives:
A one-time procedure must be executed via message instructions to program the blob file in the encoder (using a Kinetix 6500 drive) so that it can
be operated like any other Rockwell Automation® motor. This is similar to the Stegmann encoder third-party motor requirement, except that a
Kinetix 6500 drive is used instead of a Kinetix 6000 drive.
Kinetix 6500 drives only:
The Logix Designer commutation test procedure (released with RSLogix 5000® software, version 19) must be executed to obtain the commutation
offset value and store it in the controller. This procedure must be executed any time a drive is connected to a new motor.
Data frequency 100 kHz 4.125 MHz 100 kHz
Sine/cosine frequency 0…250 kHz – 0…250 kHz
(1) ECI119 is supported by only Kinetix 6500 drives.
IMPORTANT To properly support system EnDat feedback, the keying configuration on the
drive Module Properties tab of the Logix Designer application must be
selected to the correct firmware revision as follows:
• For EnDat Sine/Cosine encoders, use Kinetix 6200 drive firmware
revision 1.35 or later
• For or EnDat Digital encoders, use Kinetix 6200 drive firmware revision
1.40 or later
IMPORTANT To make sure your drive and motor integration is successful, refer to
commissioning notes relative to EnDat encoders on third-party motors.

Allen-Bradley Kinetix 6200 Specifications

General

Brand	Allen-Bradley
Model	Kinetix 6200
Category	Servo Drives
Language	English