Kollmorgen AKD Installation Manual

AKD Installation | 8 Electrical Installation
8.12.5 Emulated Encoder Output (EEO)
The drive calculates the motor shaft position from the cyclic- absolute signals of the primary
feedback, generating incremental-encoder compatible pulses from this information. Pulse out-
puts on the SubD connector X9 are 3 signals, A, B and Index, with 90° phase difference (i.e.
in quadrature, hence the alternative term “A quad B” output), with a zero pulse.
The resolution (before multiplication) can be set by the DRV.EMUERES parameter. Use the
DRV.EMUEZOFFSET parameter to adjust + save the zero pulse position within one mechan-
ical turn. The drivers operate from an internal supply voltage.
tv max. 30ns
Connection Diagram
122 Kollmorgen™ | May 2013

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