Rockwell Automation 2094-EN02D-M01-Sx Kinetix 6200 and Kinetix 6500 Modular Multi-axis Servo Drives User Manual - Manual (Page 83)

Rockwell Automation Publication 2094-UM002E-EN-P - May 2012 83
Kinetix 6200 and Kinetix 6500 Connector Data Chapter 4
Table 38 - Generic TTL Incremental Specifications
Figure 43 - Generic TTL Incremental, MTR_AM and MTR_BM Signals
Attribute Value
TTL incremental encoder support 5V, differential A quad B
Quadrature interpolation 4 counts / square wave period
Differential input voltage
(MTR_AM, MTR_BM, and MTR_IM)
1.0…7.0V
DC current draw
(MTR_AM, MTR_BM, and MTR_IM)
30 mA, max
Input signal frequency
(MTR_AM, MTR_BM, and MTR_IM)
5.0 MHz, max
Edge separation
(MTR_AM and MTR_BM)
42 ns min, between any two edges
Line loss detection
(MTR_AM and MTR_BM)
Average (MTR_AM
2
+ MTR_BM
2
) > constant
Noise filtering
(MTR_AM and MTR_BM)
Two-stage coarse count pulse reject filter with rejected pulse tally
Commutation verification
Commutation angle verification performed at every Hall signal
transition
Hall inputs
(MTR_S1, MTR_S2, and MTR_S3)
Single-ended, TTL, open collector, or none
MTR_AM- or
MTR_BM- 1 k
Ω
to A/D Converter
56 pF
+2.5V +2.5V
56 pF
1 k
Ω
121
Ω
MTR_AM+ or
MTR_BM+
2 k Ω
1 k
Ω
1 k
Ω
220 pF
220 pF
2 k
Ω
+
+
to AqB Counter
-
-
Shaded area indicates components that are part of the circuit, but support other
feedback device types (not used for Generic TTL incremental support).
Kinetix 6200 or Kinetix 6500
Control Module