Kollmorgen AKD series Installation Manual

AKD Installation | 9 Electrical Installation
9.12.1 Feedback connector (X10)
Pin SFD
SFD3/
DSL
Resolver
BiSSB
(analog)
BiSSC
(digital)
EnDAT
2.1
EnDAT
2.2
Hiper-
face
Sine
Enc.
+Hall
Incr.
Enc.
+Hall
Hall
Tamagawa
Smart
Abs*
1 -
-
- -
-
- - - HallU HallU HallU -
2 -
-
- CLK+ CLK+ CLK+ CLK+ - HallV HallV HallV -
3 -
-
- CLK- CLK- CLK- CLK- - HallW HallW HallW -
4 SEN+ - - SEN+ SEN+ SEN+ SEN+ SEN+ SEN+ SEN+ - SEN+
5 SEN- - - SEN- SEN- SEN- SEN- SEN- SEN- SEN- - SEN-
6 COM+ COM+ R1 Ref+ DAT+ DAT+ DAT+ DAT+ DAT+ Zero+ Zero+ - SD+
7 COM- COM- R2 Ref- DAT- DAT- DAT- DAT- DAT- Zero- Zero- - SD-
8 -
-
Thermal control (+)
9 -
-
Thermal control (-)
10 +5 V 8 to 9 V - +5 V +5 V +5 V +5 V 8 to 9 V +5 V +5 V +5 V +5 V
11 0 V 0 V - 0 V 0 V 0 V 0 V 0 V 0 V 0 V 0 V 0 V
12 - - S1SIN+ A+ - A+ - SIN+ A+ A+ - -
13 - - S3SIN- A- - A- - SIN- A- A- - -
14 - - S2COS+ B+ - B+ - COS+ B+ B+ - -
15 - - S4COS- B- - B- - COS- B- B- - -
CLK = CLOCK, DAT = DATA, SEN = SENSE, *= for AKD with "NB" (rev 8+) only
122 Kollmorgen | kdn.kollmorgen.com | October 2017

Kollmorgen AKD series Specifications

General

Continuous Current	Up to 180 A
Control Modes	Position, Velocity, Torque
Communication Interfaces	EtherCAT, CANopen, Modbus TCP/IP
Feedback Options	Resolver, Encoder
Safety Features	Safe Torque Off (STO), Safe Stop 1 (SS1)
Protection Features	Overvoltage, Undervoltage, Overcurrent, Short Circuit, Overtemperature
Switching Frequency	8 kHz, 16 kHz
Ambient Temperature	0°C to 40°C
Operating Temperature	0 - 40 °C (derating may apply)
Humidity	5% to 95% non-condensing