Record of Document Revisions
Edition Remarks
... Table with lifecycle information of this document (➜ # 202)
B, 04/2020 Electrical data updated, UL markings updated, default setting: STO active, connector tightening torque added
to connector pin assignments, regen resistor wiring updated, AXIS#.ZEROx keywords updated for stop
diagrams, X1/X2 feedback voltage 11V, X23 max. current 350mA, FS trouble shooting updated, SFA
voltage/current values, continuous brake power of external regen resistor reduced, CE: external EMC mains
filters for 7V models, max. cable length for unshielded I/O lines, 24V supply with X10T, SFF=75%, PROFINET
added, EtherNet/IP added, X22 digital feedbacks added, breakers for 7V models removed
C, 07/2020 Performance data table corrected, mounting M/P values synchronized, X23/X41 pinout Step/Dir&CW/CCW
updated, chapter CAN termination improved, PROFINET/EtherNet-IP label CHx->Portx, UL Markings
updated, Modbus added
D, 05/2021 SFA shielding, Low Voltage DC Operation note, display screens updated, device front view updated,
PROFINET certified, regen resistor fusing: FPS removed, SSI feedbacks on X22/X23 added
E, 07/2022 SD Card text updated, Letter of Volatility link added, chapter "Shielding on drive" improved, Incr. Encoder
feedback on X21 added, BiSS-C and SSI feedbacks on X41 (SFA) added, new motor connector image,
chapter "Motion Bus interface" updated, PROFINET certified and available, chapter "Gearing" restructured,
chapter "Feedback connector" restructured, SCCR rating for MV breaker changed, EtherNet/IP table updated,
chapter "Mechanical Installation": Texts restructured and dimension table adapted, chapter "Mains supply":
semi-conductor added, fusing chapter restructured, EAC approval removed, max. cable length per feedback
type added, X23 feedback connector graphic expanded, conformity with UK added
F, 06/2023 7V24S drive contents added, including updated cover image, connector position image, general wiring
diagrams, specifications and data, X3A and X3B connector content, X4 and X5 content, individual X23 / X41
feedback wiring diagrams and specifications added, added connection to various mains supply network pages,
addition to part number scheme, corrected table formatting, added connector options availability table.
Hardware Revision (HR)
AKD2G Firmware WorkBench KAS IDE Remarks
A from 02-00-00-000 from 2.00.0.0000 from 3.01 First revision
Trademarks
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Regal Rexnord and Kollmorgen are trademarks of Regal Rexnord Corporation or one of its affiliated companies.
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AKD is a registered trademark of Kollmorgen Corporation.
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SafeMotion is a registered trademark of Kollmorgen Corporation.
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SMM is a registered trademark of Kollmorgen Corporation.
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EnDat is a registered trademark of Dr. Johannes Heidenhain GmbH.
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EtherCAT
®
is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.
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EtherNet/IP is a registered trademark of ODVA, Inc.
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MODBUS is a registered trademark of SCHNEIDER ELECTRIC USA, INC..
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HIPERFACE is a registered trademark of Max Stegmann GmbH.
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PROFINET is a registered trademark of PROFIBUS and PROFINET International (PI).
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Windows is a registered trademark of Microsoft Corporation.
Current patents
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US Patent 2017/0211640 (method and apparatus for power saving, fail-safe control of an electromechanical brake), patent
pending
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US Patent 16,247,478 (method and apparatus for limiting the output voltages of switching mode power supplies), patent
pending
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US Patent 8,154,228 (Dynamic Braking For Electric Motors)
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US Patent 8,214,063 (Auto-tune of a Control System Based on Frequency Response)
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US Patent 10.374.468 (System and method for improved DC power line communication)
Patents referring to fieldbus functions are listed in the matching fieldbus manual.
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