Rockwell Automation Publication 2198-UM005C-EN-P - February 2022 61
Chapter 4 Connector Data and Feature Descriptions
Generic Sine/Cosine Feedback
Generic sine/cosine incremental feedback applies to the 15-pin motor feedback
connector.
Table 29 - Generic Sine/Cosine Incremental Specifications
Refer to Encoder Phasing Definitions on page 63 for encoder phasing
alignment diagrams.
Auxiliary Feedback Specifications
The Kinetix 5300 drives support TTL incremental feedback devices on the
20-pin digital inputs and auxiliary feedback connector. To use these in your
application, refer to Configure Feedback-only Axis Properties
on page 116.
Table 30 - Auxiliary Feedback Signals by Device Type
Specifications for the auxiliary feedback channel are identical to the motor
feedback channel, except for specifications related to commutation and
encoder nonvolatile memory usage programming.
Attribute Value
Input frequency
(MTR_SIN and MTR_COS)
250 kHz, max
Differential input voltage
(MTR_SIN and MTR_COS)
0.6…1.2V, peak to peak
Commutation verification
Commutation angle verification performed at the first Hall signal transition and
periodically verifies thereafter.
Hall inputs
(MTR_S1, MTR_S2, and MTR_S3)
Single-ended, TTL, open collector, or none.
Pin Generic TTL Incremental
6AUX_AM+
7AUX_BM+
8AUX_IM+
9 AUX_EPWR5V
10 SHIELD
16 AUX_AM-
17 AUX_BM-
18 AUX_IM-
19 AUX_COM
20 SHIELD
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