Kollmorgen AKD series Installation Manual

Digital Input Wiring Diagram (Source type connection, example)
9.14.4.1 Digital Inputs 1 and 2
These inputs (X7/9 and X7/10) are particularly fast and are therefore suitable for position
latch functions. They can also be used as 24 V inputs for electronic gearing (➜ # 138).
Technical characteristics
Floating, reference common line is DCOM7
Sink or Source type sensors possible
High: 3.5 to 30 V/2 to 15 mA , Low: -2 to +2 V/<15 mA
Update rate: firmware reads hardware input state every 250 µs
High accuracy latch: motor feedback position or interpolated time is latched or captured
within 2 µs of input signal transition (with digital input filter set to 40 ns)
The AKD capture engine is polled every 62.5 µs (16 kHz) by the firmware
For KAS applications (example: AKD PDMM), the latch position information is updated in
the Ethercat PDO. The typical update time into the KAS project is two Ethercat cycles (
with each cycle being 250 µs, 500 µs, 1000 µs, or 2000 µs)
AKD Installation | 9 Electrical Installation
Kollmorgen | kdn.kollmorgen.com | October 2017 153

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