8.6.2.1 Fusing 75
8.6.2.2 Wiring example 24 VDC supply 75
8.7 DC Bus link (X3) 75
8.8 External Regen resistor (X3) 76
8.8.1 Fusing and Wiring 76
8.9 Motor Power, Brake and Feedbackconnection 77
8.9.1 Motor connectivity, some examples 77
8.9.2 Motor single cable connection 78
8.9.2.1 Motor Power, Brake and Feedbackconnectors X1, X2 78
8.9.2.2 Feedback connectors X21, X22, X23 79
8.9.3 Motor dual cable connection 80
8.9.3.1 Motor power and motor brake connectors X1, X2 81
8.9.3.2 Feedback connectors X1, X2, X41, X21, X22, X23 81
8.9.4 Motor Holding Brake Connection 82
8.9.5 FeedbackConnection 84
8.9.5.1 Feedback Connector X1, X2 85
8.9.5.2 Feedback Connector X21 86
8.9.5.3 Feedback Connector X22 87
8.9.5.4 Feedback Connector X23 88
8.9.5.5 Feedback Connector X41 (SFA, accessory) 89
8.10 ElectronicGearing, EEO, Master-Slave 90
8.10.1 ElectronicGearing 90
8.10.2 Emulated Encoder Output (EEO) 91
8.10.3 Master-Slave control 93
8.10.3.1 Master-Slave using X22 93
8.10.3.2 Master-Slave using optional X23 or X41 93
8.11 Motion Bus Interface (X11/X12) 94
8.12 CAN-Bus Interface (X13/X14) 95
8.12.1 CAN-Bus Topology 95
8.12.2 CAN-Bus Wiring 96
8.12.3 Baud rate for CAN-Bus 97
8.12.4 Node Addressfor CAN-Bus 97
8.12.5 CAN-Bus Termination 97
8.13 Service Interface (X20) 98
8.13.1 Possible Network Configurations 98
8.14 I/O Connection (X21/X22/X23) 99
8.14.1 Pinout 99
8.14.2 Technical data 100
8.14.3 Analog Input 101
8.14.4 Analog Output 102
8.14.5 Digital Inputs 103
8.14.5.1 Digital-In 1 and 2 103
8.14.5.2 Digital-In 3 to 12 104
8.14.5.3 Digital-In/Out 1 and 2 105
8.14.5.4 Digital-In/Out 3 to 6 106
8.14.6 Digital Outputs 107
8.14.6.1 Digital-Out 1 to 6 107
8.14.6.2 Digital-Out 7 and 8 108
8.14.6.3 Digital-In/Out 1 and 2 109
8.14.6.4 Digital-In/Out 3 to 6 109
8.14.6.5 Digital-Out 9, Relay contacts 110
9 Setup 111
9.1 Important Notes 112
9.2 Guide to drive setup 113
AKD2G-S Installation, Safety 1 | Table of Contents
Kollmorgen | kdn.kollmorgen.com | Beta, December 2018 5
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