Kollmorgen AKD 2G-S Series User Manual

8.10.10.10 X23 Incremental Encoder Feedback 121
8.10.10.11 X23 Incremental Encoder with Hall Feedback 122
8.10.10.12 X23 Hall Feedback 123
8.10.10.13 X23 SSI Feedback 123
8.10.10.14 X23 Step / Direction and CW / CCW Feedback 124
8.10.11 Feedback Connector X41 (SFA, accessory) 125
8.10.11.1 X41 Connector Pinout Summary 126
8.10.12 X41 Feedback Wiring Pinout Diagrams 127
8.10.12.1 X41 SFD Feedback 127
8.10.12.2 X41 Resolver Feedback 128
8.10.12.3 X41 BiSS (Mode B) Analog Feedback 129
8.10.12.4 X41 BiSS (Mode C) Digital Feedback 130
8.10.12.5 X41 EnDAT 2.1 Feedback (with 1 V p-p analog signals) 131
8.10.12.6 X41 EnDAT 2.2 Digital Feedback 132
8.10.12.7 X41 HIPERFACE Feedback 133
8.10.12.8 X41 Sine Encoder Feedback 134
8.10.12.9 X41 Sine Encoder with Hall Feedback 135
8.10.12.10 X41 Incremental Encoder Feedback 136
8.10.12.11 X41 Incremental Encoder with Hall Feedback 137
8.10.12.12 X41 Hall Feedback 138
8.10.12.13 X41 SSI Feedback 138
8.11 Gearing 139
8.11.1 Overview 139
8.11.2 Input - Electronic Gearing 139
8.11.3 Output - Emulated Encoder Output (EEO) 139
8.11.4 Master-Slave control 141
8.11.4.1 Examples 141
8.12 Ethernet Fieldbus Interface Connector X11/X12 142
8.12.1 EtherCAT® 142
8.12.2 PROFINET 143
8.12.3 EtherNet/IP 144
8.13 CAN-Bus Interface connector X13/X14 145
8.13.1 CAN-Bus Topology 145
8.13.2 CAN-Bus Wiring 146
8.13.3 Baud rate for CAN-Bus 147
8.13.4 Node Address for CAN-Bus 147
8.13.5 CAN-Bus Termination 147
8.14 Service Interface connector X20 148
8.14.1 Possible Network Configurations 148
8.15 Modbus TCP connector X20 149
8.16 I/O Connectors X21/X22/X23 150
8.16.1 Technical data 151
8.16.2 Analog Input 152
8.16.3 Analog Output 153
8.16.4 Digital Inputs 154
8.16.4.1 Digital-In 1 and 2 154
8.16.4.2 Digital-In 3 to 12 155
8.16.4.3 Digital-In/Out 1 and 2 156
8.16.4.4 Digital-In/Out 3 to 6 157
8.16.5 Digital Outputs 158
8.16.5.1 Digital-Out 1 to 6 158
8.16.5.2 Digital-Out 7 and 8 159
8.16.5.3 Digital-In/Out 1 and 2 160
8.16.5.4 Digital-In/Out 3 to 6 160
AKD2G-S Installation Manual, Safety 1
Kollmorgen | kdn.kollmorgen.com | June, 2023 7

Kollmorgen AKD 2G-S Series Specifications

General

Brand	Kollmorgen
Model	AKD 2G-S Series
Category	Servo Drives
Language	English