Kollmorgen AKD Installation Manual

8.12.1.2 Connector X9 Input
Technical characteristics
l Electrical interface: RS-485
l Maximum signal input frequency: 3MHz
l Input signal voltage range: +12 V to -7 V
l Supply voltage (only applicable to Incremental Encoder Input): +5 V ±5%
l Maximumsupply current: 250 mA
Pin Pulse/Direction Up/Down Incremental Encoder Encoder with EnDat 2.2
1 Pulse+ Up+ A+ CLOCK+
2 Pulse- Up- A- CLOCK-
3 GND GND GND GND
4 Direction+ Down+ B+ DATA+
5 Direction- Down- B- DATA-
6 Shield Shield Shield Shield
7 - - Zero+ -
8 - - Zero- -
9 - - + 5 V (supply, output) +5V (supply, output)
Maximum cable length of an external incremental encoder using X9 is dependant on cable
voltage drop and external encoder power requirements. See the calculation example in the
user guide's chapter "Electronic Gearing".
8.12.1.3 Connector X9 Output
Technical characteristics
l Electrical Interface: RS-485
l Max frequency: 3 MHz
l Resolution: Up to 16 bit
l The pulses per revolution value are settable
l Pulse phase shift: 90°±20°
Pin Emulated Encoder Output
1 Channel A+
2 Channel A-
3 GND
4 Channel B+
5 Channel B-
6 Shield
7 Channel Zero+
8 Channel Zero-
9 -
The maximum permissible cable length is 100 meters.
AKD Installation | 8 Electrical Installation
Kollmorgen™ | May 2013 117

Kollmorgen AKD Specifications

General

Control Modes	Torque, Velocity, Position
Communication Interfaces	EtherCAT, CANopen
Feedback Options	Resolver
Safety	STO (Safe Torque Off), SS1 (Safe Stop 1)
Protection Features	Overcurrent, Overvoltage, Undervoltage, Overtemperature
Operating Temperature Range	0°C to 55°C
Humidity	5% to 95% non-condensing