Installation Instructions
Low-profile EnDat Feedback
Modules
Catalog Numbers 2090-K6CK-KENDAT, 2090-K7CK-KENDAT
About the Low-profile EnDat Feedback Modules
These modules provide wire termination for the EnDat feedback signals on the motor feedback
(MF) connector on Kinetix 6000 and Kinetix 7000 drives.
Module Cat. No.
2090-K6CK-KENDAT Kinetix 6000 2094-xCxx-Mxx-S, 2094-xMxx-S 1.116 or later
2090-K7CK-KENDAT Kinetix 7000 2099-BMxx-S 1.104 or later
Refer to the following publications for more information on wiring motor feedback signals:
• Kinetix 6000 Multi-axis Servo Drive User Manual, publication 2094-UM001
• Kinetix 7000 High Power Servo Drive User Manual, publication 2099-UM001
Drive
Compatibility Drive Cat. No.
Firmware
Compatibility
2 Low-profile EnDat Feedback Modules
Install the Low-profile EnDat Feedback Module
Status Indicator
Do not extend cable
shield above clamp.
Follow these steps to form a compact connection.
1. Push the insulation down-and-over itself.
2. Move the insulation so it butts against the
outside wall of cover.
3. Tape or shrink-wrap the end of the insulation to
the cable.
Clamp Screws (2)
Attribute 2090-K6CK-KENDAT, 2090-K7CK-KENDAT
Cable diameter 4…10 mm (0.16…0.39 in.)
Screw terminal wire size 0.06…1.31 mm
Recommended wire strip length 5 mm (0.2 in.) single conductor
Recommended torque
Mounting screw
Terminal screws
Clamp and cover screws
Status indicator lights
Red (flashing)
Green (solid)
Red (solid)
If necessary, turn clamp over
to hold small wires secure.
2
(30…16 AWG)
0.4 N•m (3.5 lb•in)
0.2 N•m (2.1 lb•in)
0.4 N•m (3.5 lb•in)
Establishing communication
Communication established
Communication fault
Shrink-wrapped
Insulation
Rockwell Automation Publication 2090-IN020C-EN-P - August 2010
3 Low-profile EnDat Feedback Modules
Connector Data
12345678910111213
Ter m in al
1 SIN+
2 SIN–
3 COS+
4 COS–
5 +5V DC
6 ECOM
Signal
Ter m in al
(1)
(1)
(1)
(1)
(2)
(3)
8 CLK–
9 DATA+
10 DATA–
11 TS+
12 TS–
13 NC
Signal
(3)
7 CLK+
(1) The cosine signal must lead the sine signal for phasing and commutation of a motor that
results in clockwise rotation when looking at the motor shaft from the front.
(2) The module connects to the 9V and 5V power supplies in the drive. The 9V power from the
drive is used to power the signal conversion logic in the module. The 5V power is passed
through to the encoder and is not used by the module.
(3) The ECOM and TS- connections are tied together and connect to the cable shield. The TS-
connection is required only when using third-party motor feedback cables.
Rockwell Automation Publication 2090-IN020C-EN-P - August 2010
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If you experience a problem within the first 24 hours of installation, please review the information that's
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product up and running.
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Outside United States
or Canada
Use the Worldwide Locator
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Rockwell Automation Publication 2090-IN020C-EN-P - August 2010 PN-78223
Supersedes Publication 2090-IN020B-EN-P - September 2009 Copyright © 2010 Rockwell Automation, Inc. All rights reserved. Printed in the U.S.A.
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