AKD2G-S Installation, Safety 1 | 8 Electrical Installation
8.9.5 Feedback Connection
AKD2G offers up to five feedback channels. These channels can serve
to commutate the motor (single cable (➜ # 78) or dual cable (➜ # 82)),
to close the velocity and/or position loops, and
to act as a command source (electronic gearing, flying sheer, master-slave (➜ # 90)).
The usage of the five channels may be freely configured in software, subject only to a few
restrictions that are not physically sensible.
Exactly one feedback channel per axis can commutate the motor.
At most one feedback channel per axis can serve as the command source and the same
feedback channel cannot also commutate the motor.
A feedback channel can serve as the command source for more than one axis.
FB1 cannot commutate axis 2. FB2 cannot commutate axis 1.
Feedback
channel
Connector Pinout Usable for
Feedback 1
X1 (➜ # 85) Axis 1: commutation feedback
X41 (➜ # 89) Axis 1 via SFA: commutation feedback
Feedback 2
X2 (➜ # 85) Axis 2: commutation feedback
X41 (➜ # 89) Axis 2 via SFA: commutation feedback
Feedback 3 X23 (➜ # 88) commutation feedback, velocity/position, command
Feedback 4 X21 (➜ # 86) commutation feedback, velocity/position, command
Feedback 5 X22 (➜ # 87) commutation feedback, velocity/position, command
Feedback Types Connectors
SFD3 X1, X2
Encoder Hiperface DSL X1, X2
Resolver X23, X41
SFD X23, X41
SinCos Encoder BiSS B (analog) X23, X41
Encoder BiSS C (digital) X23
SinCos Encoder ENDAT 2.1 X23, X41
Encoder ENDAT 2.2 (digital) X23, X41
Encoder HIPERFACE X23, X41
Sine Encoder X23, X41
Sine Encoder + Hall X23, X41
Incremental Encoder X22, X23, X41
Incremental Encoder + Hall (Comcoder) X23, X41
Hall Sensors X23, X41
Tamagawa Smart Abs X23, X41
Step/Direction X21, X22, X23, X41
CW/CCW X21, X22, X23, X41
84 Kollmorgen | kdn.kollmorgen.com | Beta, December 2018
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