Kollmorgen AKD series Installation Manual

9.12.2 Feedback connector (X9)
Pin Pulse/Direction CW/CCW Incremental Encoder Encoder with EnDat 2.2
1 Pulse+ CW+ A+ CLOCK+
2 Pulse- CW- A- CLOCK-
3 GND GND GND GND
4 Direction+ CCW+ B+ DATA+
5 Direction- CCW- B- DATA-
6 Shield Shield Shield Shield
7 - - Zero+ -
8 - - Zero- -
9 - - + 5 V (supply, output) +5V (supply, output)
9.12.3 Feedback connector (X7)
Pin Pulse/Direction CW/CCW Incremental Encoder
9 Pulse CW Channel A
10 Direction CCW Channel B
1 Common Common Common
AKD Installation | 9 Electrical Installation
Kollmorgen | kdn.kollmorgen.com | October 2017 123

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